Three-translation and one-rotation manipulator with correct position symbol solution and motion decoupling

Abstract

The present invention relates to the technical field of three-dimensional manipulators, in particular to a three-translation and one-rotation manipulator with positive position solution and motion decoupling, including a static platform, a moving platform, a hybrid branch chain one and a hybrid branch chain two; the hybrid branch chain one consists of a spatial sub-parallel mechanism and a rotating pair seven, and the spatial sub-parallel mechanism includes a branch chain one and a branch chain two connected in parallel. The branch chain one, branch chain two and hybrid branch chain two of the present invention can independently control the three-dimensional movement of the moving platform respectively. At the same time, the branch chain one, branch chain two and hybrid branch chain two can also jointly control the one-dimensional rotation of the moving platform, thus having excellent performance of positive solution and motion decoupling, which is beneficial to the motion control and trajectory planning of the moving platform; there is not easy interference between the hybrid branch chain one and the hybrid branch chain two, and it has obvious advantages such as strong rotation ability of the moving platform and large three-dimensional position working space, and can be used in the logistics field to realize the grasping and placing process, automatic conveying, transfer and unloading of three-dimensional translation and rotation.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional manipulators, and in particular to a three-translation and one-rotation manipulator with a positive solution of position symbols and motion decoupling property. Background Art

[0002] Three-translation and one-rotation parallel mechanisms can be widely applied to the packaging and sorting of items in factories. The specific literature is as follows:

[0003] PIERROT F, NABAT V, COMPANY O, et al. Optimal design of a 4-DOF parallel manipulator: From academia to industry[J]. IEEE Transactions on Robotics, 2009, 25(2): 213-224;

[0004] LI Y H, MA Y, LIU S T, et al. Integrated design of a 4-DOF high-speed pick-and-place parallel robot[J]. CIRP Annals-Manufacturing Technology, 2014, 63(1): 185-188;

[0005] LIU S T, HUANG T, MEI J P, et al. Optimal design of a 4-DOF SCARA type parallel robot using dynamic performance indices and angular constrains[J]. Journal of Mechanisms and Robotics, 2012, 4(3);

[0006] PIERROT F, COMPANY O. H4: a new family of 4-DOF parallel robots[C] / / Proceedings of the IEEE / ASME International Conference on Advanced Intelligent Mechatronics, 1999: 508-513;

[0007] KRUT S, COMPANY O, NABAT V, et al. Heli4: A parallel robot for SCARA motions with a very compact traveling plate and a symmetrical design[C] / / Proceedings of International Conference on Intelligence Robots and Systems, October 9-15, 2006, International Conference Center, Beijing. New York: IEEE, 2006: 1656-1661;

[0008] NABAT V, COMPANY O, KRUT S, et al. Par4: very high speed parallel robot for pick-and-place[C] / / Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems, 2005: 1202-1207;

[0009] Yang Guilin, Wu Cuncun, Chen Qingying, Wang Yi, Zhang Chi. Kinematic analysis and optimal design of 3T1R parallel mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2017, 48(12): 386-394, 420;

[0010] However, the existing three-translation and one-rotation parallel mechanisms generally do not have a positive solution of position symbol or it is difficult to obtain the positive solution of position symbol, do not have motion decoupling or the motion decoupling is not good, which brings inconvenience to the subsequent workspace analysis, dimensional synthesis, real-time motion control, dynamic balance calculation and dynamic analysis, etc. Summary of the Invention

[0011] The technical problem to be solved by the present invention is: to solve the deficiencies in the prior art, and now provide a three-translation and one-rotation manipulator with a positive solution of position symbol and motion decoupling, which can be used in the logistics field to realize the grasping, placing, automatic conveying, transferring and unloading processes of three-dimensional translation and rotation.

[0012] The technical solution adopted by the present invention to solve its technical problems is: a three-translation and one-rotation manipulator with a positive solution of position symbol and motion decoupling, including a static platform, a moving platform, a hybrid branch chain one and a hybrid branch chain two;

[0013] The first hybrid branch chain consists of a spatial sub-parallel mechanism and a seventh revolute pair. The spatial sub-parallel mechanism includes a first branch chain and a second branch chain connected in parallel. The first branch chain is composed of a first prismatic pair, a first revolute pair, a second revolute pair, and a third revolute pair connected in series in sequence. The moving direction of the first prismatic pair, the axis of the first revolute pair, the axis of the second revolute pair, and the axis of the third revolute pair are parallel to each other. The second branch chain is composed of a second prismatic pair, a fourth revolute pair, a fifth revolute pair, and a sixth revolute pair connected in series in sequence. The moving direction of the second prismatic pair, the axis of the fourth revolute pair, the axis of the fifth revolute pair, and the axis of the sixth revolute pair are parallel to each other. The third revolute pair is connected to the sixth revolute pair through an output rod one coaxially arranged therewith. A seventh revolute pair with its axis in the vertical direction is serially arranged on the output rod one. The axis of the third revolute pair, the axis of the sixth revolute pair, and the axis of the seventh revolute pair are perpendicular to each other.

[0014] The second hybrid branch chain is composed of a two-slider planar five-bar mechanism and a sub-chain connected in series. The two-slider planar five-bar mechanism is composed of a third prismatic pair, an eighth revolute pair, a ninth revolute pair, a tenth revolute pair, and a fourth prismatic pair connected in series in sequence. The moving direction of the third prismatic pair is perpendicular to the axis of the eighth revolute pair. The axis of the eighth revolute pair, the axis of the ninth revolute pair, and the axis of the tenth revolute pair are parallel to each other. The axis of the tenth revolute pair is perpendicular to the moving direction of the fourth prismatic pair. The sub-chain is composed of an eleventh revolute pair, a twelfth revolute pair, and a thirteenth revolute pair connected in series in sequence. The axis of the twelfth revolute pair, the axis of the thirteenth revolute pair, and the axis of the seventh revolute pair are parallel to each other. The axis of the eleventh revolute pair is perpendicular to the axis of the twelfth revolute pair. And the eleventh revolute pair is coaxially connected in series with the ninth revolute pair to jointly form a compound hinge.

[0015] The first prismatic pair, the second prismatic pair, the third prismatic pair, and the fourth prismatic pair are all arranged on the static platform. The moving direction of the first prismatic pair is perpendicular to the moving direction of the second prismatic pair. The moving direction of the first prismatic pair is parallel to the moving direction of the third prismatic pair and / or the moving direction of the fourth prismatic pair. One end of the seventh revolute pair is connected to the moving platform, and the other end of the thirteenth revolute pair is connected to the moving platform.

[0016] Further, when the first prismatic pair, the second prismatic pair, the third prismatic pair, and the fourth prismatic pair are driving pairs, the moving platform can achieve an output motion of three-dimensional spatial movement and one-dimensional rotation around the axis of the seventh revolute pair.

[0017] Further, the moving direction of the first prismatic pair is parallel to the Y-axis direction, the moving direction of the second prismatic pair is parallel to the X-axis direction, and the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other.

[0018] The input of the first prismatic pair determines the displacement of the moving platform in the Y-axis direction.

[0019] The input of the second prismatic pair determines the displacement of the moving platform in the X-axis direction.

[0020] The inputs of the third and fourth moving pairs determine the displacement of the moving platform in the Z-axis direction;

[0021] The rotation of the moving platform about the z-axis is jointly determined by the inputs of the first moving pair, the second moving pair, the third moving pair, and the fourth moving pair on the static platform.

[0022] The present invention also provides a three-translation and one-rotation manipulator with a positive solution of position symbols and motion decoupling, including a static platform, a moving platform, a hybrid branch chain one, and a hybrid branch chain two;

[0023] The hybrid branch chain one is composed of a spatial sub-parallel mechanism and a seventh rotating pair. The spatial sub-parallel mechanism includes a first branch chain and a second branch chain connected in parallel. The first branch chain is composed of a first moving pair, a first rotating pair, a second rotating pair, and a third rotating pair connected in series in sequence. The moving direction of the first moving pair, the axis of the first rotating pair, the axis of the second rotating pair, and the axis of the third rotating pair are parallel to each other; the second branch chain is composed of a second moving pair, a fourth rotating pair, a fifth rotating pair, and a sixth rotating pair connected in series in sequence. The moving direction of the second moving pair, the axis of the fourth rotating pair, the axis of the fifth rotating pair, and the axis of the sixth rotating pair are parallel to each other; the third rotating pair is connected to the sixth rotating pair through an output rod one coaxially arranged therewith. A seventh rotating pair with an axis in the vertical direction is connected in series on the output rod one. The axis of the third rotating pair, the axis of the sixth rotating pair, and the axis of the seventh rotating pair are perpendicular to each other;

[0024] The hybrid branch chain two is composed of a third branch chain, a fourth branch chain, and a sub-chain. The third branch chain is composed of a third moving pair, an eighth rotating pair, a ninth rotating pair, and an eleventh rotating pair connected in series in sequence. The moving direction of the third moving pair, the axis of the eighth rotating pair, the axis of the ninth rotating pair, and the eleventh rotating pair are parallel to each other; the fourth branch chain is composed of a fourth moving pair, a tenth rotating pair, and a fourteenth rotating pair connected in series in sequence. The moving direction of the fourth moving pair is perpendicular to the axis of the tenth rotating pair. The axis of the tenth rotating pair and the axis of the fourteenth rotating pair are parallel to each other. The eleventh rotating pair is connected to the fourteenth rotating pair through an output rod two coaxially arranged therewith. The output rod two passes through the axis of the fourteenth rotating pair. The sub-chain is composed of a twelfth rotating pair and a thirteenth rotating pair connected in parallel and in series in sequence. The twelfth rotating pair is vertically connected to the output rod two. The axis of the thirteenth rotating pair is parallel to the axis of the seventh rotating pair, and the axes of the twelfth rotating pair and the thirteenth rotating pair are both in the vertical direction;

[0025] The first moving pair, the second moving pair, the third moving pair, and the fourth moving pair are all arranged on the static platform. The moving direction of the first moving pair is perpendicular to the moving direction of the second moving pair. The moving direction of the first moving pair is parallel to the moving direction of the third moving pair or / and the moving direction of the fourth moving pair; One end of the seventh rotating pair is connected to the moving platform, and the other end of the thirteenth rotating pair is connected to the moving platform.

[0026] Furthermore, when the first translational pair, the second translational pair, the third translational pair, and the fourth translational pair are driving pairs, the moving platform can achieve an output motion of three-dimensional spatial movement and one-dimensional rotation about the axis of the seventh revolute pair.

[0027] Furthermore, the moving direction of the first translational pair is parallel to the Y-axis direction, the moving direction of the second translational pair is parallel to the X-axis direction, and the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other;

[0028] The input of the first translational pair determines the displacement of the moving platform in the Y-axis direction;

[0029] The input of the second translational pair determines the displacement of the moving platform in the X-axis direction;

[0030] The inputs of the third translational pair and the fourth translational pair determine the displacement of the moving platform in the Z-axis direction;

[0031] The rotation of the moving platform about the z-axis is jointly determined by the inputs of the first translational pair, the second translational pair, the third translational pair, and the fourth translational pair on the stationary platform.

[0032] The beneficial effects of the present invention are as follows: For the three-translation and one-rotation manipulator with positive position solution and motion decoupling of the present invention, the first branch chain, the second branch chain, and the second hybrid branch chain can independently control the three-dimensional movement of the moving platform. At the same time, the first branch chain, the second branch chain, and the second hybrid branch chain can also jointly control the one-dimensional rotation of the moving platform, thus having excellent performance of positive symbol solution and motion decoupling, which is conducive to the motion control and trajectory planning of the moving platform; In addition, the first hybrid branch chain and the second hybrid branch chain are not easily interfered with each other, and have obvious advantages such as strong rotation ability of the moving platform and large three-dimensional position working space, and can be used in the logistics field to realize the grasping, placing, automatic conveying, transferring, and discharging processes of three-dimensional translation and one-rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below with reference to the drawings and embodiments.

[0034] Figure 1 is a schematic diagram of Embodiment 1;

[0035] Figure 2 is a schematic diagram of Embodiment 2.

[0036] In the figure: 0, stationary platform; 1, moving platform; 2, first output rod; 3, second output rod;

[0037] R 12 , first revolute pair, R 13 , second revolute pair, R 14 , third revolute pair, R 15 , seventh revolute pair; R 22 , fourth revolute pair, R23 , Revolute pair five, R 24 , Revolute pair six; R 32 , Revolute pair eight, R 33 , Revolute pair nine, R 42 , Revolute pair ten, R 43 , Revolute pair fourteen; R 34 , Revolute pair eleven, R 35 , Revolute pair twelve, R 36 , Revolute pair thirteen;

[0038] P 11 , Prismatic pair one, P 21 , Prismatic pair two, P 31 , Prismatic pair three, P 41 , Prismatic pair four;

[0039] I. Hybrid branch chain one, II. Hybrid branch chain two. Detailed implementation mode

[0040] Now, the present invention will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner. Therefore, they only show the components related to the present invention, and directions and references (such as up, down, left, right, etc.) can only be used to assist in the description of the features in the drawings. Therefore, the following detailed implementation mode is not adopted in a restrictive sense, and the scope of the claimed subject matter is only defined by the appended claims and their equivalent forms.

[0041] Embodiment 1

[0042] As Figure 1 shown, a three-translation and one-rotation manipulator with positive solution of position symbols and motion decoupling includes a static platform 0, a moving platform 1, a hybrid branch chain one I, and a hybrid branch chain two II;

[0043] The hybrid branch chain one I is composed of a spatial sub-parallel mechanism and a revolute pair seven R 15 , and the spatial sub-parallel mechanism is composed of a branch chain one and a branch chain two. The branch chain one and the branch chain two are connected in parallel. The branch chain one is successively and serially composed of a prismatic pair one P 11 , a revolute pair one R 12 , a revolute pair two R 13 and a revolute pair three R 14 . The moving direction of the prismatic pair one P 11 , the axis of the revolute pair one R 12 , the axis of the revolute pair two R 13 and the axis of the revolute pair three R 14 are parallel to each other; the branch chain two is composed of a prismatic pair two P 21 , a revolute pair four R 22 , a revolute pair five R 23and revolute pair six R 24 which are successively connected in series. Prismatic pair two P 21 The moving direction of, revolute pair four R 22 The axis of, revolute pair five R 23 The axis of and revolute pair six R 24 The axes of are parallel to each other; revolute pair three R 14 Is connected to revolute pair six R through output rod one 2 24 Output rod one 2 and revolute pair three R 14 Are coaxially arranged. Revolute pair seven R 15 Is vertically connected to output rod one 2. The axis of revolute pair three R 14 The axis of, revolute pair six R 24 The axis of and revolute pair seven R 15 The axes of are perpendicular to each other; thus, a hybrid branch chain one I containing 2 prismatic pairs and 7 revolute pairs is obtained. The end member of hybrid branch chain one I can generate three-dimensional movement and one-dimensional rotation about the axis of revolute pair seven R 15 The end member of hybrid branch chain one I is the connection between moving platform 1 and revolute pair seven R 15 At the connection point;

[0044] Hybrid branch chain two II is composed of a two-slider planar five-bar mechanism and a sub-chain connected in series. The two-slider planar five-bar mechanism consists of prismatic pair three P 31 , revolute pair eight R 32 , revolute pair nine R 33 , revolute pair ten R 42 And prismatic pair four P 41 Which are successively connected in series. The moving direction of prismatic pair three P 31 Is perpendicular to the axis of revolute pair eight R 32 The axis of revolute pair eight R 32 The axis of, revolute pair nine R 33 The axis of and revolute pair ten R 42 The axes of are parallel to each other. The axis of revolute pair ten R 42 Is perpendicular to the moving direction of prismatic pair four P 41 ; The sub-chain consists of revolute pair eleven R 34 , revolute pair twelve R 35 Revolute pair thirteen R 36 Which are successively connected in series. The axis of revolute pair twelve R 35 The axis of, revolute pair thirteen R 36 And the axis of revolute pair seven R 15 The axes of are parallel to each other. The axis of revolute pair eleven R 34 Is parallel to the axis of revolute pair nine R 33 But the axis of revolute pair eleven R 34 Is perpendicular to the axis of revolute pair twelve R 35 And the axis of revolute pair eleven R 34 Is parallel to revolute pair nine R33 Coaxially connected in series to jointly form a composite hinge; thus, a hybrid link II with 2 translational pairs and 6 rotational pairs is obtained. The end member of the hybrid link II can perform three-dimensional translation and two-dimensional rotation respectively around the rotational pair twelve R 35 and the rotational pair thirteen R 36 The end member of the hybrid link II can be the connection between the moving platform 1 and the rotational pair thirteen R 36 ;

[0045] Translational pair one P 11 , translational pair two P 21 , translational pair three P 31 and translational pair four P 41 are all arranged on the static platform 0. The moving direction of the translational pair one P 11 is perpendicular to the moving direction of the translational pair two P 21 . The moving direction of the translational pair one P 11 is parallel to the moving direction of the translational pair three P 31 or / and the moving direction of the translational pair four P 41 . That is, the moving direction of the translational pair one P 11 is parallel to the moving direction of the translational pair three P 31 ; or, the moving direction of the translational pair one P 11 is parallel to the moving direction of the translational pair four P 41 ; or, the moving direction of the translational pair one P 11 is simultaneously parallel to the moving direction of the translational pair three P 31 and the moving direction of the translational pair four P 41 . The rotational pair seven R 15 and the rotational pair thirteen R 36 are respectively connected to both ends of the moving platform 1.

[0046] In some examples, when the translational pair one P 11 , the translational pair two P 21 , the translational pair three P 31 and the translational pair four P 41 are driving pairs, that is, when taking the four translational pairs on the moving platform 1 as driving pairs, the moving platform 1 can achieve the output motion of three-dimensional space translation and one-dimensional rotation around the axis of the rotational pair seven R 15 ;

[0047] This three-translation and one-rotation manipulator contains two basic kinematic chains, namely the hybrid link I and the hybrid link II, which are SKC1(0) and SKC2(1, -1) respectively. Therefore, the coupling degree k of this three-translation and one-rotation manipulator is 1.

[0048] In some examples, the moving direction of the translational pair one P 11 is parallel to the Y-axis direction, and the moving direction of the translational pair two P 21The moving direction is parallel to the X-axis direction, and the X-axis direction, Y-axis direction, and Z-axis direction are perpendicular to each other;

[0049] Moving pair one P 11 The input of which is moving pair one P 11 The displacement along the Y-axis direction, moving pair two P 21 The input of which is moving pair two P 21 The displacement along the X-axis direction, moving pair three P 31 The input of which is moving pair three P 31 The displacement along the Y-axis direction, moving pair four P 41 The input of which is moving pair four P 41 The displacement along the Y-axis direction;

[0050] Moving pair one P 11 The input of which determines the displacement of the moving platform 1 in the Y-axis direction;

[0051] Moving pair two P 21 The input of which determines the displacement of the moving platform 1 in the X-axis direction;

[0052] Moving pair three P 31 The input of which and moving pair four P 41 The input of which determines the displacement of the moving platform 1 in the Z-axis direction;

[0053] For the rotation of the moving platform 1 around the Z-axis direction, it is necessary to use the input of moving pair one P on the static platform 0 11 The input of which, moving pair two P 21 The input of which, moving pair three P 31 The input of which and moving pair four P 41 The input of which jointly determines;

[0054] This three-translation and one-rotation manipulator with positive position symbol solution and motion decoupling has its branch chain one, branch chain two, and hybrid branch chain two independently controlling the three-dimensional movement of the moving platform 1. At the same time, branch chain one, branch chain two, and hybrid branch chain two can also jointly control the one-dimensional rotation of the moving platform 1, thus having excellent performance of positive symbol solution and motion decoupling, which is beneficial to the motion control and trajectory planning of the moving platform 1; it is convenient to design and manufacture only composed of rotating pairs and moving pairs. There is not easy interference between hybrid branch chain one I and hybrid branch chain two II, and it has obvious advantages such as strong rotation ability of the moving platform 1 and large three-dimensional position working space, and can be used in the logistics field to realize the grasping and placing process, automatic conveying, transfer, and unloading of three-dimensional translation and rotation.

[0055] Embodiment 2

[0056] As Figure 2 shown, a three-translation and one-rotation manipulator with positive position symbol solution and motion decoupling includes a static platform 0, a moving platform 1, a hybrid branch chain one I, and a hybrid branch chain two II;

[0057] The hybrid branch chain I is composed of a spatial sub-parallel mechanism and a rotating pair VII R 15 The spatial sub-parallel mechanism includes branch chain I and branch chain II. Branch chain I and branch chain II are connected in parallel. Branch chain I is successively and serially composed of a prismatic pair I P 11 , a rotating pair I R 12 , a rotating pair II R 13 and a rotating pair III R 14 . The moving direction of the prismatic pair I P 11 , the axis of the rotating pair I R 12 , the axis of the rotating pair II R 13 and the axis of the rotating pair III R 14 are parallel to each other; Branch chain II is successively and serially composed of a prismatic pair II P 21 , a rotating pair IV R 22 , a rotating pair V R 23 and a rotating pair VI R 24 . The moving direction of the prismatic pair II P 21 , the axis of the rotating pair IV R 22 , the axis of the rotating pair V R 23 and the axis of the rotating pair VI R 24 are parallel to each other; The rotating pair III R 14 is connected to the rotating pair VI R 24 through an output rod 1. The rotating pair III R 14 is coaxially arranged with the output rod 1. The output rod 1 is provided with a rotating pair VII R 15 along the vertical direction. The axis of the rotating pair III R 14 , the axis of the rotating pair VI R 24 and the axis of the rotating pair VII R 15 are perpendicular to each other; Thus, a hybrid branch chain I containing 2 prismatic pairs and 7 rotating pairs is obtained. The end member of the hybrid branch chain I can generate three-dimensional movement and one-dimensional rotation around the axis of the rotating pair VII R 15 . The end member of the hybrid branch chain I is the connection between the moving platform 1 and the rotating pair VII R 15 ;

[0058] The hybrid branch chain II is composed of branch chain III, branch chain IV and a sub-chain. Branch chain III is successively and serially composed of a prismatic pair III P 31 , a rotating pair VIII R 32 , a rotating pair IX R 33 and a rotating pair XI R 34 . The moving direction of the prismatic pair III P 31 , the axis of the rotating pair VIII R 32 , the axis of the rotating pair IX R 33 and the rotating pair XI R 34 are parallel to each other; Branch chain IV is successively and serially composed of a prismatic pair IV P 41 , a rotating pair X R 42and revolute pair fourteen R 43 are successively connected in series. Prismatic pair four P 41 has a moving direction perpendicular to the axis of revolute pair ten R 42 . The axis of revolute pair ten R 42 and the axis of revolute pair fourteen R 43 are parallel to each other. Revolute pair eleven R 34 is connected to revolute pair fourteen R 43 through output rod two 3. Revolute pair eleven R 34 is coaxially arranged with output rod two 3. Output rod two 3 passes through the axis of revolute pair fourteen R 43 . The sub-chain is composed of revolute pair twelve R 35 and revolute pair thirteen R 36 which are parallel to each other and successively connected in series. Revolute pair twelve R 35 is vertically connected to output rod two 3. The axis of revolute pair thirteen R 36 is parallel to the axis of revolute pair seven R 15 . And the axis of revolute pair twelve R 35 and the axis of revolute pair thirteen R 36 are both in the vertical direction. The axis of revolute pair eleven R 34 and the axis of revolute pair fourteen R 43 are both perpendicularly arranged with the axis of revolute pair twelve R 35 . Thus, the hybrid branch chain two Ⅱ containing 2 prismatic pairs and 7 revolute pairs is obtained. The end member of the hybrid branch chain two Ⅱ can generate three-dimensional movement and one-dimensional rotation about the axis of revolute pair thirteen R 36 . The end member of the hybrid branch chain two Ⅱ is the connection part of the moving platform 1 and revolute pair thirteen R 36 ;

[0059] Prismatic pair one P 11 , prismatic pair two P 21 , prismatic pair three P 31 and prismatic pair four P 41 are all arranged on the static platform 0. The moving direction of prismatic pair one P 11 is perpendicular to the moving direction of prismatic pair two P 21 . The moving direction of prismatic pair one P 11 is parallel to the moving direction of prismatic pair three P 31 or / and the moving direction of prismatic pair four P 41 . That is, the moving direction of prismatic pair one P 11 is parallel to the moving direction of prismatic pair three P 31 ; or, the moving direction of prismatic pair one P 11 is parallel to the moving direction of prismatic pair four P 41 ; or, the moving direction of prismatic pair one P 11 is simultaneously parallel to the moving direction of prismatic pair three P 31The moving direction and the moving pair four P 41 The moving direction, and further, the moving pair three P 31 The axis in the moving direction coincides with the moving pair four P 41 in the moving direction; the rotating pair seven R 15 connects one end of the moving platform 1, and the rotating pair thirteen R 36 connects the other end of the moving platform 1.

[0060] In some examples, the moving pair one P 11 , the moving pair two P 21 , the moving pair three P 31 and the moving pair four P 41 are driving pairs. When the four moving pairs on the static platform 0 are taken as driving pairs, the moving platform 1 can achieve the output motion of three-dimensional spatial movement and one-dimensional rotation around the axis of the rotating pair seven R 15 axis;

[0061] This three-translation and one-rotation manipulator contains two basic kinematic chains, namely the hybrid branch chain one I and the hybrid branch chain two II, which are SKC1(0) and SKC2(1, -1) respectively. Therefore, the coupling degree k of this three-translation and one-rotation manipulator is 1.

[0062] In some examples, the moving direction of the moving pair one P 11 is parallel to the Y-axis direction, and the moving direction of the moving pair two P 21 is parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0063] The input of the moving pair one P 11 is the displacement of the moving pair one P 11 along the Y-axis direction, and the input of the moving pair two P 21 is the displacement of the moving pair two P 21 along the X-axis direction. The input of the moving pair three P 31 is the displacement of the moving pair three P 31 along the Y-axis direction, and the input of the moving pair four P 41 is the displacement of the moving pair four P 41 along the Y-axis direction;

[0064] The input of the moving pair one P 11 determines the displacement of the moving platform 1 in the Y-axis direction;

[0065] The input of the moving pair two P 21 determines the displacement of the moving platform 1 in the X-axis direction;

[0066] The inputs of the moving pair three P 31 and the moving pair four P 41 determine the displacement of the moving platform 1 in the Z-axis direction;

[0067] The rotation of the moving platform 1 about the Z-axis direction is determined by the input of the first translational pair P on the static platform 0, 11 the input of the second translational pair P, 21 the input of the third translational pair P, 31 the input of the fourth translational pair P, 41 and the input of the fourth translational pair P together, thus having good input-output motion decoupling;

[0068] It should be noted that, compared with Embodiment 1, the three-translation and one-rotation manipulator in this embodiment has good torsional stiffness.

[0069] The three-translation and one-rotation manipulator with positive position solution and motion decoupling has its first branch chain, second branch chain and second hybrid branch chain independently controlling the three-dimensional movement of the moving platform. At the same time, the first branch chain, second branch chain and second hybrid branch chain can also jointly control the one-dimensional rotation of the moving platform, thus having excellent performance of positive solution and motion decoupling, which is beneficial to the motion control and trajectory planning of the moving platform 1; it is convenient to design and manufacture only composed of rotational pairs and translational pairs. There is not easy interference between the first hybrid branch chain I and the second hybrid branch chain II, and it has obvious advantages such as strong rotational ability of the moving platform 1 and large three-dimensional position working space, and can be used in the logistics field to realize the grasping and placing process, automatic conveying, transfer and unloading of three-dimensional translation and rotation.

[0070] Based on the ideal embodiments of the present invention as inspiration, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A three-translation and one-rotation manipulator with correct position symbols and motion decoupling, characterized in that: It includes a stationary platform (0), a moving platform (1), a hybrid branch chain I (I), and a hybrid branch chain II (II); The said hybrid link one (I) is composed of a spatial sub-parallel mechanism and a revolute pair seven (R 15 ), and the spatial sub-parallel mechanism includes a branch link one and a branch link two connected in parallel. The branch link one is composed of a prismatic pair one (P 11 ), a revolute pair one (R 12 ), a revolute pair two (R 13 ), and a revolute pair three (R 14 ) connected in series in sequence. The moving direction of the prismatic pair one (P 11 ), the axis of the revolute pair one (R 12 ), the axis of the revolute pair two (R 13 ), and the axis of the revolute pair three (R 14 ) are parallel to each other. The branch link two is composed of a prismatic pair two (P 21 ), a revolute pair four (R 22 ), a revolute pair five (R 23 ), and a revolute pair six (R 24 ) connected in series in sequence. The moving direction of the prismatic pair two (P 21 ), the axis of the revolute pair four (R 22 ), the axis of the revolute pair five (R 23 ), and the axis of the revolute pair six (R 24 ) are parallel to each other. The revolute pair three (R 14 ) is connected to the revolute pair six (R 24 ) through an output rod one (2) coaxially arranged therewith. A revolute pair seven (R 15 ) with its axis in the vertical direction is connected in series on the output rod one (2). The axis of the revolute pair three (R 14 ), the axis of the revolute pair six (R 24 ), and the axis of the revolute pair seven (R 15 ) are perpendicular to each other; The hybrid branched chain two (Ⅱ) is composed of a series connection of a two-slider planar five-bar mechanism and a sub-chain. The two-slider planar five-bar mechanism is successively composed of a prismatic pair three (P 31 ), a revolute pair eight (R 32 ), a revolute pair nine (R 33 ), a revolute pair ten (R 42 ), and a prismatic pair four (P 41 ). The moving direction of the prismatic pair three (P 31 ) is perpendicular to the axis of the revolute pair eight (R 32 ). The axes of the revolute pair eight (R 32 ), the revolute pair nine (R 33 ), and the revolute pair ten (R 42 ) are parallel to each other. The axis of the revolute pair ten (R 42 ) is perpendicular to the moving direction of the prismatic pair four (P 41 ). The sub-chain is successively composed of a revolute pair eleven (R 34 ), a revolute pair twelve (R 35 ), and a revolute pair thirteen (R 36 ). The axes of the revolute pair twelve (R 35 ), the revolute pair thirteen (R 36 ), and the revolute pair seven (R 15 ) are parallel to each other. The axis of the revolute pair eleven (R 34 ) is perpendicular to the axis of the revolute pair twelve (R 35 ), and the revolute pair eleven (R 34 ) is coaxially connected in series with the revolute pair nine (R 33 ) to jointly form a compound hinge; The first translational pair (P 11 ), the second translational pair (P 21 ), the third translational pair (P 31 ), and the fourth translational pair (P 41 ) are all arranged on the stationary platform (0). The moving direction of the first translational pair (P 11 ) is perpendicular to the moving direction of the second translational pair (P 21 ). The moving direction of the first translational pair (P 11 ) is parallel to the moving direction of the third translational pair (P 31 ) or / and the moving direction of the fourth translational pair (P 41 ). The seventh revolute pair (R 15 ) connects one end of the moving platform (1), and the thirteenth revolute pair (R 36 ) connects the other end of the moving platform (1); The axis of the third prismatic pair (P 31 ) in the moving direction coincides with the axis of the fourth prismatic pair (P 41 ) in the moving direction.

2. The three-translation and one-rotation manipulator with correct position symbols and motion decoupling according to claim 1, characterized in that: When the first translational pair (P 11 ), the second translational pair (P 21 ), the third translational pair (P 31 ), and the fourth translational pair (P 41 ) are driving pairs, the moving platform (1) can achieve the output motion of three-dimensional spatial movement and one-dimensional rotation about the axis of the seventh revolute pair (R 15 ).

3. The three-translation and one-rotation manipulator with correct position symbols and motion decoupling according to claim 2, characterized in that: The moving direction of the first moving pair (P 11 ) is parallel to the Y-axis direction, and the moving direction of the second moving pair (P 21 ) is parallel to the X-axis direction. The X-axis direction, Y-axis direction, and Z-axis direction are perpendicular to each other; The input of the first prismatic pair (P 11 ) determines the displacement of the moving platform (1) in the Y-axis direction; The input of the second prismatic pair (P 21 ) determines the displacement of the moving platform (1) in the X-axis direction; The inputs of the third prismatic pair (P 31 ) and the fourth prismatic pair (P 41 ) determine the displacement of the moving platform (1) in the Z-axis direction; The rotation of the moving platform (1) about the z-axis is jointly determined by the inputs of the first prismatic pair (P 11 ) on the static platform (0), the inputs of the second prismatic pair (P 21 ), the inputs of the third prismatic pair (P 31 ), and the inputs of the fourth prismatic pair (P 41 ).

4. A three-translation and one-rotation manipulator with correct position symbols and motion decoupling, characterized in that: It includes a stationary platform (0), a moving platform (1), a hybrid branch chain I (I), and a hybrid branch chain II (II); The said hybrid branch chain I (I) consists of a spatial sub-parallel mechanism and a revolute pair seven (R 15 ), and the spatial sub-parallel mechanism includes a branch chain one and a branch chain two connected in parallel. The branch chain one consists of a prismatic pair one (P 11 ), a revolute pair one (R 12 ), a revolute pair two (R 13 ), and a revolute pair three (R 14 ) connected in series in sequence. The moving direction of the prismatic pair one (P 11 ), the axis of the revolute pair one (R 12 ), the axis of the revolute pair two (R 13 ), and the axis of the revolute pair three (R 14 ) are parallel to each other. The branch chain two consists of a prismatic pair two (P 21 ), a revolute pair four (R 22 ), a revolute pair five (R 23 ), and a revolute pair six (R 24 ) connected in series in sequence. The moving direction of the prismatic pair two (P 21 ), the axis of the revolute pair four (R 22 ), the axis of the revolute pair five (R 23 ), and the axis of the revolute pair six (R 24 ) are parallel to each other. The revolute pair three (R 14 ) is connected to the revolute pair six (R 24 ) through an output rod one (2) arranged coaxially therewith. A revolute pair seven (R 15 ) with its axis in the vertical direction is connected in series on the output rod one (2). The axis of the revolute pair three (R 14 ), the axis of the revolute pair six (R 24 ), and the axis of the revolute pair seven (R 15 ) are perpendicular to each other; The said hybrid branched chain two (II) consists of branched chain three, branched chain four and a sub-chain. The branched chain three is composed of a prismatic pair three (P 31 ), a revolute pair eight (R 32 ), a revolute pair nine (R 33 ), and a revolute pair eleven (R 34 ) connected in series in sequence. The moving direction of the prismatic pair three (P 31 ), the axis of the revolute pair eight (R 32 ), the axis of the revolute pair nine (R 33 ), and the axis of the revolute pair eleven (R 34 ) are parallel to each other. The branched chain four is composed of a prismatic pair four (P 41 ), a revolute pair ten (R 42 ), and a revolute pair fourteen (R 43 ) connected in series in sequence. The moving direction of the prismatic pair four (P 41 ) is perpendicular to the axis of the revolute pair ten (R 42 ). The axis of the revolute pair ten (R 42 ) and the axis of the revolute pair fourteen (R 43 ) are parallel to each other. The revolute pair eleven (R 34 ) is connected to the revolute pair fourteen (R 43 ) through an output rod two (3) arranged coaxially with it. The output rod two (3) passes through the axis of the revolute pair fourteen (R 43 ). The sub-chain is composed of a revolute pair twelve (R 35 ) and a revolute pair thirteen (R 36 ) which are parallel to each other and connected in series in sequence. The revolute pair twelve (R 35 ) is vertically connected to the output rod two (3). The axis of the revolute pair thirteen (R 36 ) is parallel to the axis of the revolute pair seven (R 15 ), and the axes of the revolute pair twelve (R 35 ) and the revolute pair thirteen (R 36 ) are both in the vertical direction; The first translational pair (P 11 ), the second translational pair (P 21 ), the third translational pair (P 31 ), and the fourth translational pair (P 41 ) are all arranged on the static platform (0). The moving direction of the first translational pair (P 11 ) is perpendicular to the moving direction of the second translational pair (P 21 ). The moving direction of the first translational pair (P 11 ) is parallel to the moving direction of the third translational pair (P 31 ) or / and the moving direction of the fourth translational pair (P 41 ). The seventh revolute pair (R 15 ) connects one end of the moving platform (1), and the thirteenth revolute pair (R 36 ) connects the other end of the moving platform (1); The axis of the third prismatic pair (P 31 ) in the moving direction coincides with the axis of the fourth prismatic pair (P 41 ) in the moving direction.

5. The three-translation and one-rotation manipulator with correct position symbols and motion decoupling according to claim 4, characterized in that: When the first translational pair (P 11 ), the second translational pair (P 21 ), the third translational pair (P 31 ), and the fourth translational pair (P 41 ) are driving pairs, the moving platform (1) can achieve the output motion of three-dimensional spatial movement and one-dimensional rotation about the axis of the seventh revolute pair (R 15 ).

6. The three-translation and one-rotation manipulator with correct position symbols and motion decoupling according to claim 4 or 5, characterized in that: The moving direction of the first moving pair (P 11 ) is parallel to the Y-axis direction, and the moving direction of the second moving pair (P 21 ) is parallel to the X-axis direction. The X-axis direction, Y-axis direction, and Z-axis direction are perpendicular to each other; The input of the first prismatic pair (P 11 ) determines the displacement of the moving platform (1) in the Y-axis direction; The input of the second prismatic pair (P 21 ) determines the displacement of the moving platform (1) in the X-axis direction; The inputs of the third prismatic pair (P 31 ) and the fourth prismatic pair (P 41 ) determine the displacement of the moving platform (1) in the Z-axis direction; The rotation of the moving platform (1) about the z-axis is determined by the inputs of the first prismatic pair (P 11 ) on the static platform (0), the inputs of the second prismatic pair (P 21 ), the inputs of the third prismatic pair (P 31 ), and the inputs of the fourth prismatic pair (P 41 ) together.

Images