Three-Translation and Two-Rotation Manipulator with Four-Branch-Chain Motion Decoupling

Abstract

The present invention relates to the technical field of five-axis motion mechanisms, and in particular to a three-translation two-rotation manipulator with four-chain motion decoupling, including a static platform, a moving platform, a hybrid chain, a simple chain one, a simple chain two, and a simple chain three. The hybrid chain includes a branch chain one, a branch chain two, and a sub-chain. The present invention is composed of four chains, with good rigidity, strong load capacity of the moving platform, good dynamic performance, a large effective working space, and strong rotation ability. The motion of the five degrees of freedom of the moving platform is controlled by five moving pairs, and the positions in the X-axis direction and the Y-axis direction are independently controlled by the moving pair one and the moving pair two. Although the coupling degree is 2, it has good partial motion decoupling, and it is easy to obtain the symbolic position positive solution, thus making the kinematics, motion control and trajectory planning, and dynamics analysis of the mechanism easy and convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of five-axis motion mechanisms, and in particular to a three-translation two-rotation manipulator with four-link motion decoupling. Background Technique

[0002] Three-translation two-rotation parallel mechanisms are widely used in operations such as processing, welding, spraying, deburring and other manufacturing processes, as well as packaging and sorting work. The relevant literature is as follows:

[0003] Kong X W, Gosselin CM. Type Synthesis of S-DOF Parallel Ma nipulatorsBased on Screw Theory[J]. Journal of Robotic Systems2005, 22(10): 535-547;

[0004] Fang YF, Tsai L W. Structure Synthesis of a Classo f-Dof and S-DoFParallel Manipulators with Identical Limb Structures[J]. The InterationalJournal of Robotics Research, 2002, 21(9): 799-810;

[0005] Q.C. Li, Z.Huang, J.M.Hervé. Type Synthesis of 3R2T S-DoF ParallelManipulators Using the Lie Group of Displacements. IEEE Transactions onRobotics and Automation, 2004, 20(2): 173-180;

[0006] Q. Jin, T. L. Yang, A. X. Liu. Structure Synthesis of A Class of Five-DoF (Three Translation and Two Rotation) Parallel Robot Mechanisms Based on Single-Opened-Chain Units, Proceedings of ASME Design Engineering Technical Conferences, Pistsburgh, 2001: DETC / DAC-21153;

[0007] Adept Technology Company Website. Quattro parallel robots[EB / OL].[2011-03-01];

[0008] LIU H, HUANG T, MEI J, et al. Kinematic design of a 5DOF hybrid robot with large workspace / limb-stroke ratio[J]. Journal of Mechanical Design, 2007, 129(5): 530-537;

[0009] UCHIYAMA T. TERADA H. MITSUYA H. Continuous path control of a 5-DOF parallel-serial hybrid robot J. Journal of Mechanical Science and Technology, 2010, 24(1): 47-50;

[0010] YANG Tingli, LIU Anxin, LUO Yufeng, et al. Topological Structure Design of Robot Mechanisms[M]. Beijing: Science Press, 2012;

[0011] However, for the existing three-translation two-rotation parallel mechanisms, it is difficult to solve the positive solution of position symbols and the motion decoupling is not good, which brings inconvenience to subsequent workspace analysis, dynamic balance calculation, real-time motion control, and dynamic analysis, etc. Summary of the Invention

[0012] The technical problem to be solved by the present invention is: to provide a three-translation two-rotation manipulator with motion decoupling of four link chains in order to solve the deficiencies in the prior art.

[0013] The technical solution adopted by the present invention to solve its technical problems is as follows: a three-translation and two-rotation manipulator with four-chain motion decoupling, including a static platform, a moving platform, a hybrid chain, a simple chain one, a simple chain two, and a simple chain three;

[0014] The hybrid chain includes a branch chain one, a branch chain two, and a sub-chain. The branch chain one is sequentially composed of a moving pair one, a rotating pair one, a rotating pair two, and a rotating pair three with parallel axes; the branch chain two is sequentially composed of a moving pair two, a rotating pair four, a rotating pair five, and a rotating pair six with parallel axes; the sub-chain is composed of a rotating pair seven and a rotating pair eight with perpendicular axes. The rotating pair three is connected to the rotating pair six through an output rod coaxially arranged with it. The rotating pair seven is connected to the output rod, and the axis of the rotating pair seven is parallel to the axis of the output rod. The axes of the rotating pair eight, the rotating pair three, and the rotating pair six are perpendicular to each other;

[0015] The simple chain one is sequentially composed of a moving pair three, a rotating pair nine, a rotating pair ten, and a spherical pair one. The axes of the moving pair three, the rotating pair nine, and the rotating pair ten are parallel to each other;

[0016] The simple chain two is sequentially composed of a moving pair four, a rotating pair eleven, a rotating pair twelve, and a spherical pair two. The axes of the moving pair four, the rotating pair eleven, and the rotating pair twelve are parallel to each other;

[0017] The simple chain three is sequentially composed of a moving pair five, a rotating pair thirteen, a rotating pair fourteen, and a spherical pair three. The axes of the moving pair five, the rotating pair thirteen, and the rotating pair fourteen are parallel to each other;

[0018] The moving pair one, the moving pair two, the moving pair three, the moving pair four, and the moving pair five are all arranged on the moving platform, and the axis of the moving pair one is perpendicular to the axis of the moving pair two;

[0019] The rotating pair eight, the spherical pair one, the spherical pair two, and the spherical pair three are all arranged on the static platform.

[0020] Further, the axes of the moving pair one, the moving pair two, the moving pair three, the moving pair four, and the moving pair five are respectively on five sides of a pentagon.

[0021] Further, the moving platform is quadrilateral, and the rotating pair eight, the spherical pair one, the spherical pair two, and the spherical pair three are respectively connected to four corners of the static platform.

[0022] Further, the axis of the rotating pair seven is coaxially arranged with the axis of the output rod.

[0023] Further, the axis of the rotating pair eight is in the vertical direction.

[0024] Furthermore, when the first translating pair, the second translating pair, the third translating pair, the fourth translating pair and the fifth translating pair are driving pairs, the moving platform can achieve an output motion of three translations and two rotations in space.

[0025] Furthermore, the moving direction of the first translating pair is parallel to the Y-axis direction, the moving direction of the second translating 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;

[0026] The input of the first translating pair determines the displacement of the moving platform in the Y-axis direction;

[0027] The input of the second translating pair determines the displacement of the moving platform in the X-axis direction;

[0028] The displacement of the moving platform in the Z-axis direction, the rotation of the moving platform about the axis of the seventh revolute pair and the rotation of the moving platform about the axis of the eighth revolute pair are jointly determined by the inputs of the first translating pair, the second translating pair, the third translating pair, the fourth translating pair and the fifth translating pair.

[0029] The beneficial effects of the present invention are as follows: The three-translation two-rotation manipulator with decoupled motion of four link chains of the present invention is composed of four link chains, has good rigidity, strong load capacity of the moving platform, good dynamic performance, large effective working space and strong rotation ability. The motions of the five degrees of freedom of the moving platform are all controlled by five translating pairs, and the positions in the X-axis direction and the Y-axis direction are independently controlled by the first translating pair and the second translating pair. Although the coupling degree is 2, it has good partial motion decoupling, and it is easy to obtain the symbolic position forward solution, so that the kinematics, motion control and trajectory planning, and dynamics analysis of the mechanism are easy and convenient. Description of the Drawings

[0030] The present invention will be further described below with reference to the drawings and embodiments.

[0031] Figure 1 is a schematic diagram of a three-translation two-rotation manipulator with decoupled motion of four link chains;

[0032] In the figure: 0, static platform; 1, moving platform; 2, output rod;

[0033] R1, seventh revolute pair; R2, eighth revolute pair; 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, R 23 、fifth revolute pair, R 24 、sixth revolute pair; R 32 、ninth revolute pair, R 33 、tenth revolute pair; R 42 、eleventh revolute pair, R43 , Revolute pair twelve; R 52 , Revolute pair thirteen, R 53 , Revolute pair fourteen;

[0034] S1, Spherical pair one, S2, Spherical pair two, S3, Spherical pair three;

[0035] P 11 , Prismatic pair one, P 21 , Prismatic pair two, P 31 , Prismatic pair three, P 41 , Prismatic pair four, P 51 , Prismatic pair five;

[0036] I, Hybrid branch chain, II, Simple branch chain one, III, Simple branch chain two, IV, Simple branch chain three. Detailed implementation mode

[0037] 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 way. 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 help describe the features in the drawings. Therefore, the following specific implementation modes are 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.

[0038] As Figure 1 shown, a three - translation two - rotation manipulator with four - branch - chain motion decoupling includes a stationary platform 0, a moving platform 1, a hybrid branch chain I, a simple branch chain one II, a simple branch chain two III, and a simple branch chain three IV;

[0039] The hybrid branch chain I includes branch chain one, branch chain two, and a sub - branch chain. Branch chain one is successively 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; Branch chain two is successively 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 sub - branch chain is composed of a revolute pair seven R1 and a revolute pair eight R2 with perpendicular axes. The revolute pair three R 14 is connected to the revolute pair six R 24 through an output rod 2 coaxially arranged with it. The revolute pair seven R1 is connected to the output rod 2, and the axis of the revolute pair seven R1 is parallel to the axis of the output rod 2. The axes of the revolute pair eight R2, the revolute pair three R 14 , and the revolute pair six R 24The axes are perpendicular to each other;

[0040] The simple branch chain - II is successively composed in series by the prismatic pair - III P 31 , the revolute pair - IX R 32 , the revolute pair - X R 33 and the spherical pair - I S1. The axis of the prismatic pair - III P 31 , the axis of the revolute pair - IX R 32 and the axis of the revolute pair - X R 33 are parallel to each other;

[0041] The simple branch chain - III is successively composed in series by the prismatic pair - IV P 41 , the revolute pair - XI R 42 , the revolute pair - XII R 43 and the spherical pair - II S2. The axis of the prismatic pair - IV P 41 , the axis of the revolute pair - XI R 42 and the axis of the revolute pair - XII R 43 are parallel to each other;

[0042] The simple branch chain - IV is successively composed in series by the prismatic pair - V P 51 , the revolute pair - XIII R 52 , the revolute pair - XIV R 53 and the spherical pair - III S3. The axis of the prismatic pair - V P 51 , the axis of the revolute pair - XIII R 52 and the axis of the revolute pair - XIV R 53 are parallel to each other;

[0043] The prismatic pair - I P 11 , the prismatic pair - II P 21 , the prismatic pair - III P 31 , the prismatic pair - IV P 41 and the prismatic pair - V P 51 are all arranged on the static platform 0. The axis of the prismatic pair - I P 11 is perpendicular to the axis of the prismatic pair - II P 21 is perpendicular. The axis of the prismatic pair - I P 11 represents the moving direction of the prismatic pair - I P 11 . The axis of the prismatic pair - II P 21 represents the moving direction of the prismatic pair - II P 21 . The axis of the prismatic pair - III P 31 represents the moving direction of the prismatic pair - III P 31 . The axis of the prismatic pair - IV P 41 represents the moving direction of the prismatic pair - IV P 41 . The axis of the prismatic pair - V P 51 represents the moving direction of the prismatic pair - V P 51 , that is, the moving directions of all the above prismatic pairs are consistent with the axes of the prismatic pairs;

[0044] The revolute pair eight R2, spherical pair one S1, spherical pair two S2 and spherical pair three S3 are all arranged on the moving platform 1. For example, the moving platform 1 is quadrilateral, and the revolute pair eight R2, spherical pair one S1, spherical pair two S2 and spherical pair three S3 are respectively connected to the four corners of the moving platform 1. The four corners of the moving platform 1 are the first end, the second end, the third end and the fourth end respectively. The revolute pair eight R2 is connected to the first end of the moving platform 1, the spherical pair one S1 is connected to the second end of the moving platform 1, the spherical pair two S2 is connected to the third end of the moving platform 1, and the spherical pair three S3 is connected to the fourth end of the moving platform 1.

[0045] Prismatic pair one P 11 's axis, prismatic pair two P 21 's axis, prismatic pair three P 31 's axis, prismatic pair four P 41 's axis and prismatic pair five P 51 's axes are respectively on the five sides of the pentagon. That is, the axis of the prismatic pair one P 11 's axis, prismatic pair two P 21 's axis, prismatic pair three P 31 's axis, prismatic pair four P 41 's axis and prismatic pair five P 51 's axes intersect with each other to enclose a pentagon.

[0046] In some examples, the axis of the revolute pair seven R1 is coaxially arranged with the axis of the output rod 2.

[0047] In some examples, the axis of the revolute pair eight R2 is in the plumb direction.

[0048] In some examples, the prismatic pair one P 11 , prismatic pair two P 21 , prismatic pair three P 31 , prismatic pair four P 41 and prismatic pair five P 51 When they are driving pairs, the moving platform 1 can realize the output motion of three translations and two rotations in space.

[0049] The moving direction of the prismatic pair one P 11 is parallel to the Y-axis direction, and the moving direction of the prismatic pair two 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;

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

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

[0052] The displacement of the moving platform 1 in the Z-axis direction, the rotation of the moving platform 1 about the axis of the seventh revolute pair R1, and the rotation of the moving platform 1 about the axis of the eighth revolute pair R2 are determined jointly by the input of the first prismatic pair P 11 , the input of the second prismatic pair P 21 , the input of the third prismatic pair P 31 , the input of the fourth prismatic pair P 41 and the input of the fifth prismatic pair P 51 .

[0053] The input of the first prismatic pair P 11 is the displacement of the first prismatic pair P 11 in the Y-axis direction. The input of the second prismatic pair P 21 is the displacement of the second prismatic pair P 21 in the X-axis direction. The input of the third prismatic pair P 31 is the displacement of the third prismatic pair P 31 in its moving direction. The input of the fourth prismatic pair P 41 is the displacement of the fourth prismatic pair P 41 in its moving direction. The input of the fifth prismatic pair P 51 is the displacement of the fifth prismatic pair P 51 in its moving direction.

[0054] This three-translation two-rotation manipulator consists of two basic kinematic chains, namely: BKC1(1, 1, -, 2) and BKC2(0). Therefore, the coupling degree of this three-translation two-rotation manipulator is 2;

[0055] Although the coupling degree of this three-translation two-rotation manipulator is 2, it has kinematic decoupling and symbolic forward position solution.

[0056] This three-translation two-rotation manipulator with kinematic decoupling of four links is composed of four links. It has good rigidity, strong load capacity of the moving platform, good dynamic performance, large effective working space and strong rotation ability. The movements of the five degrees of freedom of the moving platform 1 are all controlled by five prismatic pairs, and the positions in the X-axis direction and the Y-axis direction are independently controlled by the first prismatic pair P 11 and the second prismatic pair P 21 . Although the coupling degree is 2, it has good partial kinematic decoupling and is easy to obtain a symbolic forward position solution, thus making the kinematics, motion control and trajectory planning, and dynamics analysis of this mechanism easy and convenient.

[0057] 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 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-translation and two-rotation manipulator with four-link motion decoupling, characterized in that: It includes a static platform (0), a moving platform (1), a hybrid branch chain (I), a simple branch chain I (II), a simple branch chain II (III), and a simple branch chain III (IV); The mixed branch chain (I) includes a first branch chain, a second branch chain and a sub-branch chain. The first branch chain is successively formed by 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 ) in series, with their axes parallel to each other; the second branch chain is successively formed by 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 ) in series, with their axes parallel to each other; the sub-branch chain is composed of a seventh revolute pair (R1) and an eighth revolute pair (R2) with their axes perpendicular to each other. The third revolute pair (R 14 ) is connected to the sixth revolute pair (R 24 ) through an output rod (2) coaxially arranged therewith. The seventh revolute pair (R1) is connected to the output rod (2), and the axis of the seventh revolute pair (R1) is parallel to the axis of the output rod (2). The axes of the eighth revolute pair (R2), the third revolute pair (R 14 ) and the sixth revolute pair (R 24 ) are perpendicular to each other; The simple branch I (II) consists of a prismatic pair III (P 31 ), a revolute pair IX (R 32 ), a revolute pair X (R 33 ) and a spherical pair I (S1) connected in series in sequence. The axis of the prismatic pair III (P 31 ), the axis of the revolute pair IX (R 32 ) and the axis of the revolute pair X (R 33 ) are parallel to each other; The simple branched chain II(III) is successively and serially composed of a prismatic pair four (P 41 ), a revolute pair eleven (R 42 ), a revolute pair twelve (R 43 ), and a spherical pair two (S2). The axis of the prismatic pair four (P 41 ), the axis of the revolute pair eleven (R 42 ), and the axis of the revolute pair twelve (R 43 ) are parallel to each other; The simple branched chain three (IV) consists of a prismatic pair five (P 51 ), a revolute pair thirteen (R 52 ), a revolute pair fourteen (R 53 ), and a spherical pair three (S3) connected in series in sequence. The axis of the prismatic pair five (P 51 ), the axis of the revolute pair thirteen (R 52 ), and the axis of the revolute pair fourteen (R 53 ) are parallel to each other; The first prismatic pair (P 11 ), the second prismatic pair (P 21 ), the third prismatic pair (P 31 ), the fourth prismatic pair (P 41 ) and the fifth prismatic pair (P 51 ) are all arranged on the stationary platform (0). The axis of the first prismatic pair (P 11 ) is perpendicular to the axis of the second prismatic pair (P 21 ); The rotary pair eight (R2), spherical pair one (S1), spherical pair two (S2), and spherical pair three (S3) are all arranged on the moving platform (1).

2. The three-translation two-rotation manipulator with four-link motion decoupling according to claim 1, wherein: The axis of the first prismatic pair (P 11 ), the axis of the second prismatic pair (P 21 ), the axis of the third prismatic pair (P 31 ), the axis of the fourth prismatic pair (P 41 ), and the axis of the fifth prismatic pair (P 51 ) are respectively on the five sides of a pentagon.

3. The three-translation two-rotation manipulator with four-link motion decoupling according to claim 1, characterized in that: The moving platform (1) is quadrilateral, and the rotary pair eight (R2), spherical pair one (S1), spherical pair two (S2), and spherical pair three (S3) are respectively connected to the four corners of the moving platform (1).

4. The three-translation two-rotation manipulator with four-link motion decoupling according to claim 1, characterized in that: The axis of the rotary pair seven (R1) is coaxially arranged with the axis of the output rod (2).

5. The three-translation two-rotation manipulator with four-link motion decoupling according to claim 1, characterized in that: The axis of the rotary pair eight (R2) is in the plumb direction.

6. The three-translation two-rotation manipulator with four-link motion decoupling according to claim 1, characterized in that: When the first prismatic pair (P 11 ), the second prismatic pair (P 21 ), the third prismatic pair (P 31 ), the fourth prismatic pair (P 41 ) and the fifth prismatic pair (P 51 ) are driving pairs, the moving platform (1) can achieve an output motion of three translations and two rotations in space.

7. The three-translation two-rotation manipulator with four-link motion decoupling according to claim 6, characterized in that: The moving direction of the first prismatic pair (P 11 ) is 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, 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 displacement of the moving platform (1) in the Z-axis direction, the rotation of the moving platform (1) about the axis of the seventh revolute pair (R1), and the rotation of the moving platform (1) about the axis of the eighth revolute pair (R2) are jointly determined by the inputs of the first prismatic pair (P 11 ), the inputs of the second prismatic pair (P 21 ), the inputs of the third prismatic pair (P 31 ), the inputs of the fourth prismatic pair (P 41 ), and the inputs of the fifth prismatic pair (P 51 ).

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