3D translational manipulator with motion decoupling and symbolic forward position solution

Abstract

The present invention relates to the technical field of parallel manipulators, in particular to a three-dimensional translational manipulator with motion decoupling and symbolic forward position solution, which includes a stationary platform, a moving platform, a first simple chain, a second simple chain, and a third simple chain; for the three-dimensional translational manipulator with motion decoupling and symbolic forward position solution of the present invention, each simple chain is separately equipped with a driving pair, the overall structure has good rigidity, and the structure is not easily deformed, and it can be applied to occasions with high load requirements for the moving platform. More importantly, the first moving pair and the second moving pair are linearly related to the displacements of the moving platform in the X-axis direction and the Y-axis direction respectively, so that it has good motion decoupling, and it is easy to obtain a symbolic forward position solution, making the kinematics, motion control and trajectory planning, and dynamics analysis of the mechanism very easy and convenient, and the structure is simpler.

Description

Technical Field

[0001] The present invention relates to the technical field of parallel manipulators, and particularly to a three-dimensional translational manipulator with motion decoupling and symbolic forward kinematics of position. Background Art

[0002] Three-dimensional translational manipulators can be used in fields such as assembly, handling, painting, and continuous welding. Some three-dimensional translational manipulators are disclosed in the following documents:

[0003] [1] CLAVEL R. A fast robot with parallel geometry[C] / / Proceedings of the 18th Int. Symposium on Industrial Robots, 1988: 91 - 100;

[0004] [2] Li Lihong, Zhang Fuhai, Zhu Lei. Kinematic analysis and optimal design of 2-CPR / UPU three-translation parallel mechanism[J]. Journal of Mechanical Transmission, 2022, 46(10): 64 - 70 + 76. 2022.10.010;

[0005] [3] Cheng Qiang, Li Ruiqin. Design and workspace optimization of 3-CPR parallel mechanism[J]. Journal of Mechanical Transmission, 2017(4): 163 - 167;

[0006] [5] Meng Qingmei, Li Jiayu, Li Ju, Deng Jiaming, Shen Huiping. Motion error analysis and calibration of semi-symmetric three-translation Delta-CU parallel mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2021, 52(01): 393 - 400;

[0007] [6] Shen Huiping, Zhao Yinan, Xu Zhengxiao, Li Ju, Yang Tingli. Topological design and kinematic analysis of low-coupling semi-symmetric three-translation parallel mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2019, 50(03): 404 - 411 + 357;

[0008] [7] Di Gregorio, R., and Parenti-Castelli, V. (May 16, 2002). "Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for a Pure Translational Motion." ASME. J. Mech. Des. June 2002; 124(2): 259–264;

[0009] [8]Di Gregorio,R.(February 14,2005)."Kinematics of the Translational 3-URC Mechanism."ASME.J.Mech.Des.November 2004;126(6):1113–1117;

[0010] The 3D translational manipulator in the above-mentioned literature generally does not have a positive solution of position symbol or it is difficult to obtain the positive solution of position symbol, and does not have motion non-decoupling or has poor motion decoupling performance, which brings inconvenience to its subsequent workspace analysis, dimensional synthesis, real-time motion control, dynamic balance calculation and dynamic analysis. Summary of the Invention

[0011] The technical problem to be solved by the present invention is: in order to solve the problems that the positive solution of position symbol of the 3D translational manipulator in the prior art is difficult to obtain, and it does not have motion non-decoupling or has poor motion decoupling performance, which brings inconvenience to its subsequent workspace analysis, dimensional synthesis, real-time motion control, dynamic balance calculation and dynamic analysis, a 3D translational manipulator with motion decoupling and symbolic positive solution of position is provided.

[0012] The technical solution adopted by the present invention to solve its technical problems is: a 3D translational manipulator with motion decoupling and symbolic positive solution of position, including a static platform, a moving platform, a first simple branch chain, a second simple branch chain and a third simple branch chain;

[0013] The first simple branch chain is successively connected in series by a first sliding pair, a first rotating pair, a second rotating pair and a third rotating pair. The moving direction of the first sliding 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 third rotating pair connects the first end of the moving platform;

[0014] The second simple branch chain is successively connected in series by a second sliding pair, a fourth rotating pair, a fifth rotating pair and a sixth rotating pair. The moving direction of the second sliding 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 sixth rotating pair connects the second end of the moving platform, and the axis of the sixth rotating pair and the axis of the third rotating pair are perpendicular to each other. The axis of the third rotating pair passes through the axis of the sixth rotating pair;

[0015] The third simple branch chain is composed of a third moving pair, a first sub-chain, and a second sub-chain; the first sub-chain consists of a seventh revolute pair and an eighth revolute pair with parallel axes; the second sub-chain consists of a ninth revolute pair and a tenth revolute pair with parallel axes. The third moving pair, the seventh revolute pair, the eighth revolute pair, the ninth revolute pair, and the tenth revolute pair are connected in series in sequence. The moving direction of the third moving pair, the axes of the seventh revolute pair, and the axes of the eighth revolute pair are parallel to each other. The axis of the eighth revolute pair is perpendicular to the axis of the ninth revolute pair. The tenth revolute pair connects the third end of the moving platform. The axes of the third revolute pair, the sixth revolute pair, and the tenth revolute pair are perpendicular to each other pairwise.

[0016] The first moving pair, the second moving pair, and the third 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, and the moving direction of the first moving pair is parallel to the moving direction of the third moving pair.

[0017] Further, the degrees of freedom of the three-dimensional translation manipulator are three. When the first moving pair, the second moving pair, and the third moving pair are driving pairs, the moving platform can achieve an output motion of three-dimensional movement in space.

[0018] The moving directions of the first moving pair and the third moving pair are both parallel to the Y-axis direction, the moving direction of the second moving 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.

[0019] The input of the first moving pair determines the displacement of the moving platform in the Y-axis direction, the input of the second moving pair determines the displacement of the moving platform in the X-axis direction, and the displacement of the moving platform in the Z-axis direction is determined by the inputs of the first moving pair, the second moving pair, and the third moving pair.

[0020] The present invention also provides a three-dimensional translation manipulator with motion decoupling and symbolic positive solution of position, including a static platform, a moving platform, a first simple branch chain, a second simple branch chain, and a third simple branch chain;

[0021] The first simple branch chain is successively composed of a first moving pair, a first revolute pair, a second revolute pair, and a third revolute pair connected in series. The moving direction of the first moving 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 third revolute pair connects the first end of the moving platform;

[0022] The second simple branch chain is successively composed of a second moving pair, a fourth revolute pair, a fifth revolute pair, and a sixth revolute pair connected in series. The moving direction of the second moving 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 sixth revolute pair connects the second end of the moving platform, and the axis of the sixth revolute pair is perpendicular to the axis of the third revolute pair. The axis of the third revolute pair passes through the axis of the sixth revolute pair;

[0023] The third simple branch chain is composed of a third moving pair, a first sub-chain and a second sub-chain; the first sub-chain consists of a seventh rotating pair and an eighth rotating pair with parallel axes; the second sub-chain consists of a ninth rotating pair and a tenth rotating pair with parallel axes. The third moving pair, the seventh rotating pair, the eighth rotating pair, the ninth rotating pair and the tenth rotating pair are connected in series in sequence. The moving direction of the third moving pair is perpendicular to the axis of the seventh rotating pair. The axis of the eighth rotating pair is perpendicular to the axis of the ninth rotating pair. The tenth rotating pair connects the third end of the moving platform. The axis of the tenth rotating pair is parallel to the axis of the third moving pair, and the axis of the tenth rotating pair is perpendicular to the axis of the sixth rotating pair.

[0024] The first moving pair, the second moving pair and the third moving pair are all arranged on the static platform, and the moving direction of the first moving pair is perpendicular to the moving direction of the second moving pair, and the moving direction of the first moving pair is parallel to the moving direction of the third moving pair.

[0025] Further, the degrees of freedom of the three-dimensional translation manipulator are three. When the first moving pair, the second moving pair and the third moving pair are driving pairs, the moving platform can realize the output motion of three-dimensional movement in space.

[0026] The moving directions of the first moving pair and the third moving pair are both parallel to the Y-axis direction, the moving direction of the second moving 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.

[0027] The input of the first moving pair determines the displacement of the moving platform in the Y-axis direction, the input of the second moving pair determines the displacement of the moving platform in the X-axis direction, and the displacement of the moving platform in the Z-axis direction is determined by the inputs of the first moving pair, the second moving pair and the third moving pair.

[0028] The present invention also provides a three-dimensional translation manipulator with motion decoupling and symbolic positive position solution, including a static platform, a moving platform, a first simple branch chain, a second simple branch chain and a third simple branch chain.

[0029] The first simple 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 third rotating pair connects the first end of the moving platform.

[0030] The second simple 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 sixth rotating pair connects the second end of the moving platform, and the axis of the sixth rotating pair is perpendicular to the axis of the third rotating pair. The axis of the third rotating pair passes through the axis of the sixth rotating pair.

[0031] The third simple branch chain is composed of a third moving pair, a first sub-chain and a second sub-chain; the first sub-chain consists of a seventh revolute pair and an eighth revolute pair with parallel axes; the second sub-chain consists of a ninth revolute pair and a tenth revolute pair with parallel axes. The third moving pair, the seventh revolute pair, the eighth revolute pair, the ninth revolute pair and the tenth revolute pair are connected in series in sequence. The moving direction of the third moving pair is perpendicular to the axis of the seventh revolute pair, the axis of the eighth revolute pair is perpendicular to the axis of the ninth revolute pair, the tenth revolute pair connects the third end of the moving platform, and the axes of the third revolute pair, the sixth revolute pair and the tenth revolute pair are perpendicular to each other pairwise.

[0032] The first moving pair, the second moving pair and the third moving pair are all arranged on the static platform, and the moving direction of the first moving pair is perpendicular to the moving direction of the second moving pair, and the moving direction of the first moving pair is parallel to the moving direction of the third moving pair.

[0033] Further, the degrees of freedom of the three-dimensional translation manipulator are three. When the first moving pair, the second moving pair and the third moving pair are driving pairs, the moving platform can achieve the output motion of three-dimensional movement in space.

[0034] The moving directions of the first moving pair and the third moving pair are both parallel to the Y-axis direction, the moving direction of the second moving 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.

[0035] The input of the first moving pair determines the displacement of the moving platform in the Y-axis direction, the input of the second moving pair determines the displacement of the moving platform in the X-axis direction, and the displacement of the moving platform in the Z-axis direction is determined by the inputs of the first moving pair, the second moving pair and the third moving pair.

[0036] The present invention also provides a three-dimensional translation manipulator with motion decoupling and symbolic forward position solution, including a static platform, a moving platform, a first simple branch chain, a second simple branch chain and a third simple branch chain;

[0037] The first simple branch chain is composed of a first moving 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 moving 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, and the third revolute pair connects the first end of the moving platform;

[0038] The second simple branch chain is composed of a second moving 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 moving 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 sixth revolute pair connects the second end of the moving platform, and the axis of the sixth revolute pair is perpendicular to the axis of the third revolute pair, and the axis of the third revolute pair passes through the axis of the sixth revolute pair;

[0039] The third simple branch chain is composed of a third moving pair, a first sub-chain and a second sub-chain; the first sub-chain consists of a seventh revolute pair and an eighth revolute pair with parallel axes; the second sub-chain consists of a ninth revolute pair and a tenth revolute pair with parallel axes. The third moving pair, the seventh revolute pair, the eighth revolute pair, the ninth revolute pair and the tenth revolute pair are connected in series in sequence. The moving direction of the third moving pair is perpendicular to the axis of the seventh revolute pair and within a motion plane. The axis of the eighth revolute pair is perpendicular to the axis of the ninth revolute pair. The tenth revolute pair connects the third end of the moving platform. The axis of the tenth revolute pair is parallel to the axis of the sixth revolute pair and perpendicular to the axis of the third revolute pair.

[0040] The first moving pair, the second moving pair and the third moving pair are all arranged on the static platform, and the moving direction of the first moving pair is perpendicular to the moving direction of the second moving pair, and the moving direction of the first moving pair is parallel to the moving direction of the third moving pair.

[0041] Further, the degrees of freedom of the three-dimensional translation manipulator are three. When the first moving pair, the second moving pair and the third moving pair are driving pairs, the moving platform can achieve an output motion of three-dimensional movement in space.

[0042] The moving directions of the first moving pair and the third moving pair are both parallel to the Y-axis direction, the moving direction of the second moving 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.

[0043] The input of the first moving pair determines the displacement of the moving platform in the Y-axis direction, the input of the second moving pair determines the displacement of the moving platform in the X-axis direction, and the displacement of the moving platform in the Z-axis direction is determined by the inputs of the first moving pair, the second moving pair and the third moving pair.

[0044] The beneficial effects of the present invention are as follows: Each simple branch chain of the three-dimensional translation manipulator with motion decoupling and symbolic forward position solution of the present invention is equipped with a driving pair separately. The overall structure has good rigidity and is not easy to deform, and it can be applied to occasions with high load requirements for the moving platform. More importantly, the first moving pair and the second moving pair are linearly related to the displacements of the moving platform in the X-axis direction and the Y-axis direction respectively, so it has good motion decoupling, and it is easy to obtain a symbolic forward position solution, making the kinematics, motion control and trajectory planning, and dynamics analysis of this mechanism very easy and convenient, and the structure is simpler. Brief Description of the Drawings

[0045] The present invention will be further described below with reference to the drawings and embodiments.

[0046] Figure 1 is a schematic diagram of Embodiment 1;

[0047] Figure 2 is a schematic diagram of Embodiment 2;

[0048] Figure 3 It is a schematic diagram of Embodiment 3;

[0049] Figure 4 It is a schematic diagram of Embodiment 4.

[0050] In the figure: 0, static platform; 1, moving platform;

[0051] I, the first simple link, P 11 , the first prismatic pair, R 12 , the first revolute pair, R 13 , the second revolute pair, R 14 , the third revolute pair;

[0052] II, the second simple link, P 21 , the second prismatic pair, R 22 , the fourth revolute pair, R 23 , the fifth revolute pair, R 24 , the sixth revolute pair;

[0053] III, the third simple link, P 31 , the third prismatic pair, R 32 , the seventh revolute pair, R 33 , the eighth revolute pair, R 34 , the ninth revolute pair, R 35 , the tenth revolute pair. Detailed implementation manners

[0054] 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. 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 manners are not adopted in a restrictive sense, and the scope of the claimed subject matter is only defined by the appended claims and their equivalents.

[0055] Embodiment 1

[0056] As Figure 1 shown, a three-dimensional translation manipulator with motion decoupling and symbolic forward position solution includes a static platform 0, a moving platform 1, a first simple link I, a second simple link II, and a third simple link III;

[0057] The first simple link I is successively formed by connecting in series a first prismatic pair P 11 , a first revolute pair R 12 , a second revolute pair R 13 and a third revolute pair R 14 . The moving direction of the first prismatic pair P 11 , the axis of the first revolute pair R 12 , the axis of the second revolute pair R 13The axis of and the third revolute pair R 14 have parallel axes, and the third revolute pair R 14 connects the first end of the moving platform 1;

[0058] The second simple link II consists of the second prismatic pair P 21 , the fourth revolute pair R 22 , the fifth revolute pair R 23 and the sixth revolute pair R 24 connected in series in sequence. The moving direction of the second prismatic pair P 21 , the axis of the fourth revolute pair R 22 , the axis of the fifth revolute pair R 23 and the axis of the sixth revolute pair R 24 are parallel to each other. The sixth revolute pair R 24 connects the second end of the moving platform 1, and the axis of the sixth revolute pair R 24 and the axis of the third revolute pair R 14 are perpendicular to each other, and the axis of the third revolute pair R 14 passes through the axis of the sixth revolute pair R 24 ;

[0059] The third simple link III consists of the third prismatic pair P 31 , sub-link one and sub-link two; Sub-link one consists of the seventh revolute pair R 32 and the eighth revolute pair R 33 with parallel axes; Sub-link two consists of the ninth revolute pair R 34 and the tenth revolute pair R 35 with parallel axes. The third prismatic pair P 31 , the seventh revolute pair R 32 , the eighth revolute pair R 33 , the ninth revolute pair R 34 and the tenth revolute pair R 35 are connected in series in sequence, and the moving direction of the third prismatic pair P 31 , the axis of the seventh revolute pair R 32 and the axis of the eighth revolute pair R 33 are parallel to each other, the axis of the eighth revolute pair R 33 and the axis of the ninth revolute pair R 34 are perpendicular, and the tenth revolute pair R 35 connects the third end of the moving platform 1. The axis of the third revolute pair R 14 , the axis of the sixth revolute pair R 24 and the axis of the tenth revolute pair R 35 are perpendicular to each other pairwise;

[0060] The first prismatic pair P 11 , the second prismatic pair P 21 and the third prismatic pair P 31 are all arranged on the static platform 0, and the moving direction of the first prismatic pair P 11 and the second prismatic pair P21 is perpendicular to the moving direction, and the first prismatic pair P 11 has a moving direction parallel to that of the third prismatic pair P 31 .

[0061] In some examples, the three-dimensional translational manipulator has three degrees of freedom. When the first prismatic pair P 11 , the second prismatic pair P 21 and the third prismatic pair P 31 are driving pairs, the moving platform 1 can achieve an output motion of three-dimensional spatial movement;

[0062] The moving direction of the first prismatic pair P 11 and that of the third prismatic pair P 31 are both parallel to the Y-axis direction, and the moving direction of the second prismatic pair 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 first prismatic pair P 11 determines the displacement of the moving platform 1 in the Y-axis direction, and the input of the second prismatic pair P 21 determines the displacement of the moving platform 1 in the X-axis direction; the displacement of the moving platform 1 in the Z-axis direction is determined by the inputs of the first prismatic pair P 11 , the second prismatic pair P 21 and the third prismatic pair P 31 ; the input of the first prismatic pair P 11 refers to the displacement of the first prismatic pair P 11 in the Y-axis direction, the input of the second prismatic pair P 21 refers to the displacement of the second prismatic pair P 21 in the X-axis direction, and the input of the third prismatic pair P 31 refers to the displacement of the third prismatic pair P 31 in the Y-axis direction.

[0064] The coupling degree of this three-dimensional translational manipulator is 1.

[0065] In this embodiment, each simple link of the three-dimensional translational manipulator with motion decoupling and symbolic forward position solution is equipped with a driving pair separately. The overall structure has good rigidity and is not easily deformed, and it can be applied to occasions with high load requirements for the moving platform 1. More importantly, the first prismatic pair P 11 and the second prismatic pair P 21 are linearly related to the displacements of the moving platform 1 in the X-axis direction and the Y-axis direction respectively, so that it has good motion decoupling, and it is easy to obtain a symbolic forward position solution, making the kinematics, motion control and trajectory planning, and dynamics analysis of this mechanism very easy and convenient. Moreover, the structure is simpler and consists only of lower pairs, that is, this three-dimensional translational manipulator has the advantages of simple structure, symbolic kinematic forward solution, and motion decoupling (including partial motion decoupling).

[0066] Embodiment 2

[0067] As Figure 2 shown, a three-dimensional translational manipulator with motion decoupling and symbolic positive kinematic solution includes a stationary platform 0, a moving platform 1, a first simple link I, a second simple link II, and a third simple link III;

[0068] The first simple link I is successively formed by serially connecting a first prismatic pair P 11 , a first revolute pair R 12 , a second revolute pair R 13 , and a third revolute pair R 14 . The moving direction of the first prismatic pair P 11 , the axis of the first revolute pair R 12 , the axis of the second revolute pair R 13 , and the axis of the third revolute pair R 14 are parallel to each other. The third revolute pair R 14 connects the first end of the moving platform 1;

[0069] The second simple link II is successively formed by serially connecting a second prismatic pair P 21 , a fourth revolute pair R 22 , a fifth revolute pair R 23 , and a sixth revolute pair R 24 . The moving direction of the second prismatic pair P 21 , the axis of the fourth revolute pair R 22 , the axis of the fifth revolute pair R 23 , and the axis of the sixth revolute pair R 24 are parallel to each other. The sixth revolute pair R 24 connects the second end of the moving platform 1, and the axes of the sixth revolute pair R 24 and the third revolute pair R 14 are perpendicular to each other. The axis of the third revolute pair R 14 passes through the axis of the sixth revolute pair R 24 ;

[0070] The third simple link III is composed of a third prismatic pair P 31 , a first sub-link, and a second sub-link; The first sub-link is composed of a seventh revolute pair R 32 and an eighth revolute pair R 33 whose axes are parallel to each other; The second sub-link is composed of a ninth revolute pair R 34 and a tenth revolute pair R 35 whose axes are parallel to each other. The third prismatic pair P 31 , the seventh revolute pair R 32 , the eighth revolute pair R 33 , the ninth revolute pair R 34 , and the tenth revolute pair R 35 are successively serially connected. The moving direction of the third prismatic pair P 31 and the seventh revolute pair R32 is perpendicular to the axis, and the eighth revolute pair R 33 is perpendicular to the axis of the ninth revolute pair R 34 is perpendicular to the axis of the tenth revolute pair R 35 connects the third end of the moving platform 1, and the tenth revolute pair R 35 is parallel to the axis of the third revolute pair R 14 is parallel to the axis of the tenth revolute pair R 35 is perpendicular to the axis of the sixth revolute pair R 24 is perpendicular to the axis;

[0071] The first prismatic pair P 11 , the second prismatic pair P 21 and the third prismatic pair P 31 are all arranged on the stationary platform 0, and the moving direction of the first prismatic pair P 11 is perpendicular to the moving direction of the second prismatic pair P 21 The moving direction of the first prismatic pair P 11 is parallel to the moving direction of the third prismatic pair P 31 is parallel.

[0072] In some examples, the degrees of freedom of the three-dimensional translational manipulator are three. When the first prismatic pair P 11 , the second prismatic pair P 21 and the third prismatic pair P 31 are driving pairs, the moving platform 1 can achieve the output motion of three-dimensional movement in space;

[0073] The moving direction of the first prismatic pair P 11 is parallel to the Y-axis direction, and the moving direction of the third prismatic pair P 31 is parallel to the Y-axis direction. The moving direction of the second prismatic pair 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;

[0074] 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 displacement of the moving platform 1 in the Z-axis direction is determined by the input of the first prismatic pair P 11 , the second prismatic pair P 21 and the third prismatic pair P 31 is determined by the input.

[0075] The coupling degree of this three-dimensional translational manipulator is 1.

[0076] In this embodiment, each simple chain of the three-dimensional translational manipulator with motion decoupling and symbolic positive position solution is equipped with a driving pair separately. The overall structure has good rigidity and is not easy to deform, and can be applied to occasions with high load requirements for the moving platform 1. More importantly, the first prismatic pair P 11 and the second prismatic pair P 21It is linearly related to the displacements of the moving platform 1 in the X-axis and Y-axis directions respectively, thus having good motion decoupling. It is easy to obtain the symbolic position forward solution, making the kinematics, motion control and trajectory planning, and dynamics analysis of this mechanism very easy and convenient. Moreover, the structure is simpler and consists only of lower pairs. That is, this three-dimensional translation manipulator has the advantages of simple structure, symbolic kinematic forward solution, and motion decoupling (including partial motion decoupling).

[0077] Embodiment 3

[0078] As Figure 3 shown, a three-dimensional translation manipulator with motion decoupling and symbolic position forward solution includes a static platform 0, a moving platform 1, a first simple link I, a second simple link II, and a third simple link III;

[0079] The first simple link I is successively composed of a first prismatic pair P 11 , a first revolute pair R 12 , a second revolute pair R 13 , and a third revolute pair R 14 in series. The moving direction of the first prismatic pair P 11 , the axis of the first revolute pair R 12 , the axis of the second revolute pair R 13 , and the axis of the third revolute pair R 14 are parallel to each other. The third revolute pair R 14 connects the first end of the moving platform 1;

[0080] The second simple link II is successively composed of a second prismatic pair P 21 , a fourth revolute pair R 22 , a fifth revolute pair R 23 , and a sixth revolute pair R 24 in series. The moving direction of the second prismatic pair P 21 , the axis of the fourth revolute pair R 22 , the axis of the fifth revolute pair R 23 , and the axis of the sixth revolute pair R 24 are parallel to each other. The sixth revolute pair R 24 connects the second end of the moving platform 1, and the axes of the sixth revolute pair R 24 and the third revolute pair R 14 are perpendicular to each other. The axis of the third revolute pair R 14 passes through the axis of the sixth revolute pair R 24 ;

[0081] The third simple link III is composed of a third prismatic pair P 31 , a first sub-link and a second sub-link; The first sub-link is composed of a seventh revolute pair R 32 and an eighth revolute pair R 33 whose axes are parallel to each other; The second sub-link is composed of a ninth revolute pair R 34 and a tenth revolute pair R35 Composed of a prismatic pair three P 31 and a revolute pair seven R 32 a revolute pair eight R 33 a revolute pair nine R 34 and a revolute pair ten R 35 connected in series in sequence, the moving direction of the prismatic pair three P 31 is perpendicular to the axis of the revolute pair seven R 32 the axis of the revolute pair eight R 33 is perpendicular to the axis of the revolute pair nine R 34 the axis of the revolute pair ten R 35 connects the third end of the moving platform 1, 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 ten R 35 are perpendicular to each other pairwise;

[0082] A prismatic pair one P 11 a prismatic pair two P 21 and a prismatic pair three P 31 are all arranged on the static platform 0, and the moving direction of the prismatic pair one P 11 is perpendicular to the moving direction of the prismatic pair two P 21 the moving direction of the prismatic pair one P 11 is parallel to the moving direction of the prismatic pair three P 31 ;

[0083] In some examples, the degrees of freedom of the three-dimensional translation manipulator are three. When the prismatic pair one P 11 the prismatic pair two P 21 and the prismatic pair three P 31 are driving pairs, the moving platform 1 can achieve the output motion of three-dimensional movement in space;

[0084] The moving direction of the prismatic pair one P 11 and the moving direction of the prismatic pair three P 31 are both parallel to the Y-axis direction, the moving direction of the prismatic 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;

[0085] The input of the prismatic pair one P 11 determines the displacement of the moving platform 1 in the Y-axis direction, the input of the prismatic pair two P 21 determines the displacement of the moving platform 1 in the X-axis direction, and the displacement of the moving platform 1 in the Z-axis direction is determined by the input of the prismatic pair one P 11 the prismatic pair two P 21 and the prismatic pair three P 31 ;

[0086] The coupling degree of this three-dimensional translation manipulator is 1.

[0087] In the three-dimensional translation manipulator with motion decoupling and symbolic forward kinematic solution in this embodiment, each simple link is equipped with a driving pair separately. The overall structure has good rigidity and is not easy to deform, and it can be applied to occasions with high load requirements for the moving platform 1. More importantly, the first moving pair P 11 and the second moving pair P 21 are respectively linearly related to the displacements of the moving platform 1 in the X-axis direction and the Y-axis direction, so it has good motion decoupling, and it is easy to obtain a symbolic forward kinematic solution, making the kinematics, motion control and trajectory planning, and dynamic analysis of this mechanism very easy and convenient. Moreover, the structure is simpler and consists only of lower pairs, that is, this three-dimensional translation manipulator has the advantages of simple structure, symbolic forward kinematic solution, and motion decoupling (including partial motion decoupling).

[0088] Embodiment 4

[0089] As Figure 4 shown, a three-dimensional translation manipulator with motion decoupling and symbolic forward kinematic solution includes a static platform 0, a moving platform 1, a first simple link I, a second simple link II, and a third simple link III;

[0090] The first simple link I is successively composed of a first moving pair P 11 , a first rotating pair R 12 , a second rotating pair R 13 , and a third rotating pair R 14 connected in series. The moving direction of the first moving pair P 11 , the axis of the first rotating pair R 12 , the axis of the second rotating pair R 13 , and the axis of the third rotating pair R 14 are parallel to each other. The third rotating pair R 14 connects the first end of the moving platform 1;

[0091] The second simple link II is successively composed of a second moving pair P 21 , a fourth rotating pair R 22 , a fifth rotating pair R 23 , and a sixth rotating pair R 24 connected in series. The moving direction of the second moving pair P 21 , the axis of the fourth rotating pair R 22 , the axis of the fifth rotating pair R 23 , and the axis of the sixth rotating pair R 24 are parallel to each other. The sixth rotating pair R 24 connects the second end of the moving platform 1, and the axes of the sixth rotating pair R 24 and the third rotating pair R 14 are perpendicular to each other, and the axis of the third rotating pair R 14 passes through the axis of the sixth rotating pair R 24 ;

[0092] The third simple branch chain III consists of the third prismatic pair P 31 , the first sub-chain and the second sub-chain; the first sub-chain consists of the seventh revolute pair R 32 and the eighth revolute pair R 33 whose axes are parallel to each other; the second sub-chain consists of the ninth revolute pair R 34 and the tenth revolute pair R 35 whose axes are parallel to each other. The third prismatic pair P 31 , the seventh revolute pair R 32 , the eighth revolute pair R 33 , the ninth revolute pair R 34 and the tenth revolute pair R 35 are connected in series in sequence. The moving direction of the third prismatic pair P 31 is perpendicular to the axis of the seventh revolute pair R 32 and within a motion plane. The axis of the eighth revolute pair R 33 is perpendicular to the axis of the ninth revolute pair R 34 . The tenth revolute pair R 35 connects the third end of the moving platform 1. The axis of the tenth revolute pair R 35 is parallel to the axis of the sixth revolute pair R 24 . The axis of the tenth revolute pair R 35 is perpendicular to the axis of the third revolute pair R 14 ;

[0093] The first prismatic pair P 11 , the second prismatic pair P 21 and the third prismatic pair P 31 are all arranged on the static platform 0, and the moving direction of the first prismatic pair P 11 is perpendicular to the moving direction of the second prismatic pair P 21 . The moving direction of the first prismatic pair P 11 is parallel to the moving direction of the third prismatic pair P 31 .

[0094] In some examples, the degree of freedom of the three-dimensional translation manipulator is three. When the first prismatic pair P 11 , the second prismatic pair P 21 and the third prismatic pair P 31 are driving pairs, the moving platform 1 can achieve the output motion of three-dimensional movement in space;

[0095] The moving directions of the first prismatic pair P 11 and the third prismatic pair P 31 are both parallel to the Y-axis direction, and the moving direction of the second prismatic pair P 21 is parallel to the X-axis direction. The X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0096] The input of the first prismatic pair P 11 determines the displacement of the moving platform 1 in the Y-axis direction. The second prismatic pair P 21The input determines the displacement of the moving platform 1 in the X-axis direction. The displacement of the moving platform 1 in the Z-axis direction is determined by the inputs of the first prismatic pair P 11 , the second prismatic pair P 21 and the third prismatic pair P 31 .

[0097] The coupling degree of this three-dimensional translational manipulator is 1.

[0098] In this embodiment, each simple link of the three-dimensional translational manipulator with motion decoupling and symbolic forward kinematic solution is equipped with a driving pair separately. The overall structure has good rigidity and is not easy to deform. It can be applied to occasions with high load requirements for the moving platform 1. More importantly, the first prismatic pair P 11 and the second prismatic pair P 21 are linearly related to the displacements of the moving platform 1 in the X-axis and Y-axis directions respectively, so it has good motion decoupling, and it is easy to obtain the symbolic forward kinematic solution, making the kinematics, motion control and trajectory planning, and dynamics analysis of this mechanism very easy and convenient. Moreover, the structure is simpler and consists only of lower pairs, that is, this three-dimensional translational manipulator has the advantages of simple structure, symbolic forward kinematic solution, and motion decoupling (including partial motion decoupling).

[0099] Based on the ideal embodiments of the present invention as inspiration, through the above description, relevant staff can make various changes and modifications completely within the scope of not deviating from the technical idea of this invention. The technical scope of this 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-dimensional translation manipulator with motion decoupling and position symbolization, characterized by: It includes a static platform (0), a dynamic platform (1), a first simple branch chain (I), a second simple branch chain (II) and a third simple branch chain (III); The first simple branch (I) is composed of a moving pair (P 11 ), Rotation pair 1 (R 12 )、Rotation pair 2 (R 13 ) and rotating pair 3 (R 14 ) are sequentially connected in series, the moving pair (P 11 ) moving direction, rotation pair (R 12 ) axis, revolute pair 2 (R 13 ) axis and the rotation pair (R 14 ) are parallel to each other, and the revolving pair (R 14 ) is connected to the first end of the moving platform (1); The second simple branch (II) consists of a mobile pair (P 21 ), Rotation pair 4 (R 22 ), Rotation pair 5 (R 23 ) and rotating pair six (R 24 ) are sequentially connected in series, the moving pair (P 21 ) moving direction, rotating pair 4 (R 22 ) axis, revolute pair V (R 23 ) axis and the revolute pair VI (R 24 ) are parallel to each other, and the revolving pair (R 24 ) connects the second end of the moving platform (1) and rotates the pair six (R 24 ) and rotating pair 3 (R 14 ) are perpendicular to each other, and the revolving pair (R 14 ) through the axis of the rotating pair (R 24 )’s axis; The third simple branch (III) consists of a mobile pair of three (P 31 ), sub-chain 1 and sub-chain 2; sub-chain 1 is composed of a rotating pair 7 (R 32 ) and the rotation pair eight (R 33 ) is composed of two sub-chains, each consisting of a rotating pair of nine (R 34 ) and the rotating pair ten (R 35 ) is composed of the mobile sub-three (P 31 ), Rotation pair seven (R 32 ), Rotation pair eight (R 33 ), Rotate the ninth (R 34 ) and the rotating pair ten (R 35 ) are connected in series, and the moving pair (P 31 ) moving direction, rotation pair seven (R 32 ) axis and the revolute pair (R 33 ) are parallel to each other, and the axes of the revolving pair (R 33 ) axis and the rotation pair (R 34 ) is perpendicular to the axis of the revolving pair (R 35 ) is connected to the third end of the moving platform (1), and the rotating pair (R 14 ) axis, revolving pair six (R 24 ) axis and the revolute pair (R 35 ) are perpendicular to each other; The mobile pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) are all set on the static platform (0), and the moving pair (P 11 ) moving direction and moving pair (P 21 ) is moved in a vertical direction, and the moving pair (P 11 )'s moving direction and moving sub-three (P 31 ) is parallel to the direction of movement.

2. The three-dimensional translation manipulator with motion decoupling and position positive solution symbolization according to claim 1, characterized in that: The three-dimensional translation manipulator has three degrees of freedom, and the mobile pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) is a driving pair, the dynamic platform (1) can realize output motion of three-dimensional movement in space; The mobile pair (P 11 )'s moving direction and moving sub-three (P 31 ) are all moving in the direction parallel to the Y axis, and the moving pair (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; The mobile pair (P 11 ) determines the displacement of the moving platform (1) in the Y-axis direction, and the moving pair (P 21 ) input determines the displacement of the moving platform (1) in the X-axis direction, and the displacement of the moving platform (1) in the Z-axis direction is determined by the moving pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) input decision.

3. A three-dimensional translation manipulator with motion decoupling and position symbolization, characterized by: It includes a static platform (0), a dynamic platform (1), a first simple branch chain (I), a second simple branch chain (II) and a third simple branch chain (III); The first simple branch (I) is composed of a moving pair (P 11 ), Rotation pair 1 (R 12 )、Rotation pair 2 (R 13 ) and rotating pair 3 (R 14 ) are sequentially connected in series, the moving pair (P 11 ) moving direction, rotation pair (R 12 ) axis, revolute pair 2 (R 13 ) axis and the rotation pair (R 14 ) are parallel to each other, and the revolving pair (R 14 ) is connected to the first end of the moving platform (1); The second simple branch (II) consists of a mobile pair (P 21 ), Rotation pair 4 (R 22 ), Rotation pair 5 (R 23 ) and rotating pair six (R 24 ) are sequentially connected in series, the moving pair (P 21 ) moving direction, rotating pair 4 (R 22 ) axis, revolute pair V (R 23 ) axis and the revolute pair VI (R 24 ) are parallel to each other, and the revolving pair (R 24 ) connects the second end of the moving platform (1) and rotates the pair six (R 24 ) and rotating pair 3 (R 14 ) are perpendicular to each other, and the revolving pair (R 14 ) through the axis of the rotating pair (R 24 )’s axis; The third simple branch (III) consists of a mobile pair of three (P 31 ), sub-chain 1 and sub-chain 2; sub-chain 1 is composed of a rotating pair 7 (R 32 ) and the rotation pair eight (R 33 ) is composed of two sub-chains, each consisting of a rotating pair of nine (R 34 ) and the rotating pair ten (R 35 ) is composed of the mobile sub-three (P 31 ), Rotation pair seven (R 32 ), Rotation pair eight (R 33 ), Rotate the ninth (R 34 ) and the rotating pair ten (R 35 ) are connected in series, the moving pair three (P 31 )'s moving direction and rotation pair (R 32 ) is perpendicular to the axis of the revolving pair (R 33 ) axis and the rotation pair (R 34 ) is perpendicular to the axis of the revolving pair (R 35 ) is connected to the third end of the moving platform (1), and the rotating pair (R 35 ) and the axis of the revolute pair (R 14 ) are parallel to the axis of the revolving pair (R 35 ) axis and the revolute pair six (R 24 )’s axis is vertical; The mobile pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) are all set on the static platform (0), and the moving pair (P 11 )'s moving direction and moving pair (P 21 ) is moved in a vertical direction, and the moving pair (P 11 )'s moving direction and moving sub-three (P 31 ) is parallel to the direction of movement.

4. The three-dimensional translation manipulator with motion decoupling and position positive solution symbolization according to claim 3 is characterized by: The three-dimensional translation manipulator has three degrees of freedom, and the mobile pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) is a driving pair, the dynamic platform (1) can realize output motion of three-dimensional movement in space; The mobile pair (P 11 )'s moving direction and moving sub-three (P 31 ) are all moving in the direction parallel to the Y axis, and the moving pair (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; The mobile pair (P 11 ) determines the displacement of the moving platform (1) in the Y-axis direction, and the moving pair (P 21 ) input determines the displacement of the moving platform (1) in the X-axis direction, and the displacement of the moving platform (1) in the Z-axis direction is determined by the moving pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) input decision.

5. A three-dimensional translation manipulator with motion decoupling and position symbolization, characterized by: It includes a static platform (0), a dynamic platform (1), a first simple branch chain (I), a second simple branch chain (II) and a third simple branch chain (III); The first simple branch (I) is composed of a moving pair (P 11 ), Rotation pair 1 (R 12 )、Rotation pair 2 (R 13 ) and rotating pair 3 (R 14 ) are sequentially connected in series, and the moving pair (P 11 ) moving direction, rotation pair (R 12 ) axis, revolute pair 2 (R 13 ) axis and the rotation pair (R 14 ) are parallel to each other, and the revolving pair (R 14 ) is connected to the first end of the moving platform (1); The second simple branch (II) consists of a mobile pair (P 21 ), Rotation pair 4 (R 22 ), Rotation pair 5 (R 23 ) and rotating pair six (R 24 ) are sequentially connected in series, the moving pair (P 21 ) moving direction, rotating pair 4 (R 22 ) axis, revolute pair V (R 23 ) axis and the revolute pair VI (R 24 ) are parallel to each other, and the revolving pair (R 24 ) connects the second end of the moving platform (1) and rotates the pair six (R 24 ) and rotating pair 3 (R 14 ) are perpendicular to each other, and the revolving pair (R 14 ) through the axis of the rotating pair (R 24 )’s axis; The third simple branch (III) consists of a mobile pair of three (P 31 ), sub-chain 1 and sub-chain 2; sub-chain 1 is composed of a rotating pair 7 (R 32 ) and the rotation pair eight (R 33 ) is composed of two sub-chains, each consisting of a rotating pair of nine (R 34 ) and the rotating pair ten (R 35 ) is composed of the mobile sub-three (P 31 ), Rotation pair seven (R 32 ), Rotation pair eight (R 33 ), Rotate the ninth (R 34 ) and the rotating pair ten (R 35 ) are connected in series, the moving pair three (P 31 )'s moving direction and rotation pair (R 32 ) is perpendicular to the axis of the revolving pair (R 33 ) axis and the rotation pair (R 34 ) is perpendicular to the axis of the revolving pair (R 35 ) is connected to the third end of the moving platform (1), and the rotating pair (R 14 ) axis, revolving pair six (R 24 ) axis and the revolute pair (R 35 ) are perpendicular to each other; The mobile pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) are all set on the static platform (0), and the moving pair (P 11 )'s moving direction and moving pair (P 21 ) is moved in a vertical direction, and the moving pair (P 11 )'s moving direction and moving sub-three (P 31 ) is parallel to the direction of movement.

6. The three-dimensional translation manipulator with motion decoupling and position positive solution symbolization according to claim 5, characterized in that: The three-dimensional translation manipulator has three degrees of freedom, and the mobile pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) is a driving pair, the dynamic platform (1) can realize output motion of three-dimensional movement in space; The mobile pair (P 11 )'s moving direction and moving sub-three (P 31 ) are all moving in the direction parallel to the Y axis, and the moving pair (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; The mobile pair (P 11 ) determines the displacement of the moving platform (1) in the Y-axis direction, and the moving pair (P 21 ) input determines the displacement of the moving platform (1) in the X-axis direction, and the displacement of the moving platform (1) in the Z-axis direction is determined by the moving pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) input decision.

7. A three-dimensional translation manipulator with motion decoupling and position symbolization, characterized by: It includes a static platform (0), a dynamic platform (1), a first simple branch chain (I), a second simple branch chain (II) and a third simple branch chain (III); The first simple branch (I) is composed of a moving pair (P 11 ), Rotation pair 1 (R 12 )、Rotation pair 2 (R 13 ) and rotating pair 3 (R 14 ) are sequentially connected in series, and the moving pair (P 11 ) moving direction, rotation pair (R 12 ) axis, revolute pair 2 (R 13 ) axis and the rotation pair (R 14 ) are parallel to each other, and the revolving pair (R 14 ) is connected to the first end of the moving platform (1); The second simple branch (II) consists of a mobile pair (P 21 ), Rotation pair 4 (R 22 ), Rotation pair 5 (R 23 ) and rotating pair six (R 24 ) are sequentially connected in series, the moving pair (P 21 ) moving direction, rotating pair 4 (R 22 ) axis, revolute pair V (R 23 ) axis and the revolute pair VI (R 24 ) are parallel to each other, and the revolving pair (R 24 ) connects the second end of the moving platform (1) and rotates the pair six (R 24 ) and rotating pair 3 (R 14 ) are perpendicular to each other, and the revolving pair (R 14 ) through the axis of the rotating pair (R 24 )’s axis; The third simple branch (III) consists of a mobile pair of three (P 31 ), sub-chain 1 and sub-chain 2; sub-chain 1 is composed of a rotating pair 7 (R 32 ) and the rotation pair eight (R 33 ) is composed of two sub-chains, each consisting of a rotating pair of nine (R 34 ) and the rotating pair ten (R 35 ) is composed of the mobile sub-three (P 31 ), Rotation pair seven (R 32 ), Rotation pair eight (R 33 ), Rotate the ninth (R 34 ) and the rotating pair ten (R 35 ) are connected in series, the moving pair three (P 31 )'s moving direction and rotation pair (R 32 ) are perpendicular and in a motion plane, the revolute pair (R 33 ) axis and the rotation pair (R 34 ) is perpendicular to the axis of the revolving pair (R 35 ) is connected to the third end of the moving platform (1), and the rotating pair (R 35 ) axis and the revolute pair six (R 24 ) are parallel to the axis of the revolving pair (R 35 ) and the axis of the revolute pair (R 14 )’s axis is vertical; The mobile pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) are all set on the static platform (0), and the moving pair (P 11 ) moving direction and moving pair (P 21 ) is moved in a vertical direction, and the moving pair (P 11 )'s moving direction and moving sub-three (P 31 ) is parallel to the direction of movement.

8. The three-dimensional translation manipulator with motion decoupling and position positive solution symbolization according to claim 7, characterized in that: The three-dimensional translation manipulator has three degrees of freedom, and the mobile pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) is a driving pair, the dynamic platform (1) can realize output motion of three-dimensional movement in space; The mobile pair (P 11 )'s moving direction and moving sub-three (P 31 ) are all moving in the direction parallel to the Y axis, and the moving pair (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; The mobile pair (P 11 ) determines the displacement of the moving platform (1) in the Y-axis direction, and the moving pair (P 21 ) input determines the displacement of the moving platform (1) in the X-axis direction, and the displacement of the moving platform (1) in the Z-axis direction is determined by the moving pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) input decision.

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