Completely decoupled 3T1R motion mode parallel robot relative to movable platform coordinate system and driving method

Abstract

The 3T1R motion mode parallel robot completely decoupled relative to the coordinate system of the movable platform comprises a base and the movable platform, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are connected between the base and the movable platform; the first kinematic chain comprises an eleventh rotating pair R11, a second connecting rod, a twelfth moving pair P12, a third connecting rod, a thirteenth moving pair P13, a fourth connecting rod, a fourteenth moving pair P14 and an eighteenth connecting rod which are connected in sequence; the eighteenth connecting rod is further connected with the movable platform, and the eleventh rotating pair R11 is further connected with the base. The parallel robot has the kinematics characteristic of complete decoupling, operation control based on the coordinate system of the end effector where the visual sensor is located is more visual, simple and convenient, the quality of operation conducted by installing the visual sensor on the end effector can be improved, and meanwhile the control process is simplified. The invention further discloses a driving method of the parallel robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a parallel robot with a 3T1R motion mode that is completely decoupled relative to a moving platform coordinate system, and also relates to a driving method for the parallel robot with a 3T1R motion mode that is completely decoupled relative to a moving platform coordinate system. Background Art

[0002] The three-movement-one-rotation parallel robot is widely used in operations such as grasping, handling, and assembly. At present, the existing fully decoupled three-movement-one-rotation parallel robots all move relative to the fixed platform coordinate system, and the fully decoupled motion characteristics are also analyzed in the fixed coordinate system. Parallel robots with three-movement-one-rotation motion that are fully decoupled relative to the moving coordinate system are relatively rare. For the existing fully decoupled three-movement-one-rotation parallel robots, the end effector, such as a visual sensor such as a camera, will use the coordinate system of the end effector as the reference when operating. However, the motion control is based on the frame or base coordinate system. When performing error compensation based on visual feedback, the coordinate system needs to be transformed to achieve error compensation in the operation process based on visual feedback and perform precise operation. Due to this coordinate system transformation process, the traditional fully decoupled parallel robot does not have a practical fully decoupled kinematic characteristic when performing visual feedback motion control based on the end effector. Summary of the invention

[0003] The first purpose of the present invention is to provide a 3T1R motion mode parallel robot that is completely decoupled relative to the moving platform coordinate system, and has completely decoupled kinematic characteristics. When the operation control is based on the coordinate system of the end effector where the visual sensor is located, it will be more intuitive and simple, and can improve the quality of operations performed by installing the visual sensor on the end effector while simplifying the control process.

[0004] The second object of the present invention is to provide a driving method for a parallel robot with a 3T1R motion mode that is completely decoupled relative to a moving platform coordinate system.

[0005] The first technical solution adopted by the present invention is a 3T1R motion mode parallel robot that is completely decoupled relative to a moving platform coordinate system, comprising a base and a moving platform, wherein a first motion chain, a second motion chain, a third motion chain and a fourth motion chain are connected between the base and the moving platform; The first kinematic chain includes the eleventh rotation pair R11, the second connecting rod, the twelfth movement pair P12, the third connecting rod, the thirteenth movement pair P13, the fourth connecting rod, the fourteenth movement pair P14 and the eighteenth connecting rod connected in sequence; the eighteenth connecting rod is also connected to the moving platform, and the eleventh rotation pair R11 is also connected to the base.

[0006] The present invention is also characterized in that: The second kinematic chain includes a twenty-first moving pair P21, a fifth connecting rod, a twenty-second rotating pair R22, a sixth connecting rod, a twenty-third moving pair P23, a seventh connecting rod, a twenty-fourth moving pair P24 and a nineteenth connecting rod connected in sequence; the nineteenth connecting rod is also connected to the moving platform, and the twenty-first moving pair P21 is also connected to the base; The sixth connecting rod is a broken line connecting rod with a breaking point; The eleventh rotating pair R11 is connected to a rotating driving motor; The twenty-first moving pair P21 is connected to a moving driving motor.

[0007] The third kinematic chain includes a thirty-first moving pair P31, an eighth connecting rod, a thirty-second rotating pair R32, a ninth connecting rod, a thirty-third moving pair P33, a tenth connecting rod assembly, a thirty-sixth moving pair P36, a twelfth connecting rod, a thirty-seventh moving pair P37 and a twentieth connecting rod connected in sequence; the twentieth connecting rod is also connected to the moving platform, and the thirty-first moving pair P31 is also connected to the base; The twelfth connecting rod is a broken line connecting rod with a breaking point; A thirty-fourth movable pair P34, an eleventh connecting rod and a thirty-fifth rotation pair R35 which are connected in sequence are also provided between the tenth connecting rod assembly and the base; the thirty-fifth rotation pair R35 is also connected to the base, and the thirty-fourth movable pair P34 is also connected to the tenth connecting rod assembly.

[0008] The tenth connecting rod assembly includes a first supporting rod and a second supporting rod; the first supporting rod is a broken line connecting rod with a folding point; The first end of the first support rod is connected to the thirty-sixth mobile pair P36, and the second end of the first support rod is connected to the thirty-third mobile pair P33; the first end of the second support rod is connected to the rod body of the first support rod, and the second end of the second support rod is connected to the thirty-fourth mobile pair P34.

[0009] The fourth kinematic chain includes a forty-first moving pair P41, a thirteenth connecting rod, a forty-second rotating pair R42, a fourteenth connecting rod, a forty-third moving pair P43, a fifteenth connecting rod assembly, a forty-sixth moving pair P46, a seventeenth connecting rod, a forty-seventh moving pair P47 and a twenty-first connecting rod which are connected in sequence; the twenty-first connecting rod is also connected to the moving platform, and the forty-first moving pair P41 is also connected to the base; A forty-fourth movable pair P44, a sixteenth connecting rod and a forty-fifth rotation pair R45 which are connected in sequence are also provided between the fifteenth connecting rod assembly and the base; the forty-fifth rotation pair R45 is also connected to the base, and the forty-fourth movable pair P44 is also connected to the fifteenth connecting rod assembly.

[0010] The fifteenth connecting rod assembly includes a third support rod and a fourth support rod; the first end of the third support rod is connected to the forty-sixth mobile pair P46, and the second end of the third support rod is connected to the forty-third mobile pair P43; the first end of the fourth support rod is connected to the rod body of the third support rod, and the second end of the fourth support rod is connected to the forty-fourth mobile pair P44.

[0011] The thirty-first movable pair P31 is connected to a movable driving motor.

[0012] The forty-first movable pair P41 is connected to a movable driving motor.

[0013] The second technical solution adopted by the present invention is a driving method for a 3T1R motion mode parallel robot that is completely decoupled relative to the moving platform coordinate system, specifically: controlling the rotating drive motor connected to the eleventh rotating pair R11 to control the rotation of the moving platform relative to the moving platform coordinate system, controlling the moving drive motor connected to the twenty-first moving pair P21 to control the one-dimensional movement of the moving platform relative to the moving platform coordinate system, controlling the moving drive motor connected to the thirty-first moving pair P31 and controlling the moving drive motor connected to the forty-first moving pair P41 to control other two-dimensional movements of the moving platform relative to the moving platform coordinate system.

[0014] The beneficial effects of the present invention are: (1) The present invention is a 3T1R motion mode parallel robot that is completely decoupled from the moving platform coordinate system. The four drives it has can all independently control the three-dimensional movement along the x, y, and z axes and one fixed-axis rotation relative to the moving coordinate system fixed to the moving platform. The robot has completely decoupled kinematic characteristics. During remote assembly and grasping, a visual sensor is installed on the end effector. When the operation control is based on the coordinate system of the end effector where the visual sensor is located, it will be more intuitive and simple. The design of a parallel robot with three movements and one rotation relative to the moving coordinate system of the end effector has good application value in improving the quality of remote grasping, handling, assembly and other operations installed with a visual sensor on the end effector, and simplifying the control process. When operating relative to the moving coordinate system fixed to the moving platform, with the assistance of the visual sensor installed on the moving platform, it is easier to perform various vision-based operations.

[0015] (2) The 3T1R motion mode parallel robot of the present invention is completely decoupled relative to the moving platform coordinate system. The mechanism has the characteristic of complete decoupling, which makes the mechanism configuration optimization design such as motion analysis, performance analysis, and size optimization simpler and also easier to operate.

[0016] (3) The 3T1R motion mode parallel robot of the present invention is completely decoupled from the moving platform coordinate system, and all drives are placed on the fixed platform, which can reduce the inertia of the robot's moving components and is beneficial to improving the dynamic performance of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the first configuration diagram of the 3T1R motion mode parallel robot which is completely decoupled from the moving platform coordinate system of the present invention; Figure 2 This is the second configuration diagram of the 3T1R motion mode parallel robot that is completely decoupled relative to the moving platform coordinate system of the present invention.

[0018] 1. base, 2. second connecting rod, 3. third connecting rod, 4. fourth connecting rod, 5. fifth connecting rod, 6. sixth connecting rod, 7. seventh connecting rod, 8. eighth connecting rod, 9. ninth connecting rod, 10. tenth connecting rod assembly, 11. eleventh connecting rod, 12. twelfth connecting rod, 13. thirteenth connecting rod, 14. fourteenth connecting rod, 15. fifteenth connecting rod assembly, 16. sixteenth connecting rod, 17. seventeenth connecting rod, 18. eighteenth connecting rod, 19. nineteenth connecting rod, 20. twentieth connecting rod, 21. twenty-first connecting rod, 22. moving platform; 10-1. The first pole, 10-2. The second pole; 15-1. The third pole, 15-2. The fourth pole. DETAILED DESCRIPTION

[0019] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] The present invention provides a 3T1R motion mode parallel robot which is completely decoupled relative to a moving platform coordinate system, comprising a base 1 and a moving platform 22, wherein a first motion chain, a second motion chain, a third motion chain and a fourth motion chain are connected between the base 1 and the moving platform 22; The first kinematic chain includes the eleventh rotation pair R11, the second link 2, the twelfth motion pair P12, the third link 3, the thirteenth motion pair P13, the fourth link 4, the fourteenth motion pair P14 and the eighteenth link 18 connected in sequence; the eighteenth link 18 is also connected to the moving platform 22, and the eleventh rotation pair R11 is also connected to the base 1.

[0021] The second kinematic chain includes a twenty-first moving pair P21, a fifth connecting rod 5, a twenty-second rotating pair R22, a sixth connecting rod 6, a twenty-third moving pair P23, a seventh connecting rod 7, a twenty-fourth moving pair P24 and a nineteenth connecting rod 19 which are connected in sequence; the nineteenth connecting rod 19 is also connected to the moving platform 22, and the twenty-first moving pair P21 is also connected to the base 1; The sixth connecting rod 6 is a broken line connecting rod with a breaking point; The eleventh rotating pair R11 is connected to a rotating driving motor; The twenty-first moving pair P21 is connected to a moving driving motor.

[0022] The third kinematic chain includes a thirty-first moving pair P31, an eighth connecting rod 8, a thirty-second rotating pair R32, a ninth connecting rod 9, a thirty-third moving pair P33, a tenth connecting rod assembly 10, a thirty-sixth moving pair P36, a twelfth connecting rod 12, a thirty-seventh moving pair P37 and a twentieth connecting rod 20 which are connected in sequence; the twentieth connecting rod 20 is also connected to the moving platform 22, and the thirty-first moving pair P31 is also connected to the base 1; The twelfth connecting rod 12 is a broken line connecting rod with a breaking point; A thirty-fourth movable pair P34 , an eleventh connecting rod 11 and a thirty-fifth rotational pair R35 which are connected in sequence are also provided between the tenth connecting rod assembly 10 and the base 1 ; the thirty-fifth rotational pair R35 is also connected to the base 1 , and the thirty-fourth movable pair P34 is also connected to the tenth connecting rod assembly 10 .

[0023] The tenth connecting rod assembly 10 includes a first supporting rod 10-1 and a second supporting rod 10-2; the first supporting rod 10-1 is a broken line connecting rod with a breaking point; The first end of the first support rod 10-1 is connected to the thirty-sixth movable pair P36, and the second end of the first support rod 10-1 is connected to the thirty-third movable pair P33; the first end of the second support rod 10-2 is connected to the rod body of the first support rod 10-1, and the second end of the second support rod 10-2 is connected to the thirty-fourth movable pair P34.

[0024] The fourth kinematic chain includes a forty-first moving pair P41, a thirteenth connecting rod 13, a forty-second rotating pair R42, a fourteenth connecting rod 14, a forty-third moving pair P43, a fifteenth connecting rod assembly 15, a forty-sixth moving pair P46, a seventeenth connecting rod 17, a forty-seventh moving pair P47 and a twenty-first connecting rod 21 which are connected in sequence; the twenty-first connecting rod 21 is also connected to the moving platform 22, and the forty-first moving pair P41 is also connected to the base 1; A forty-fourth movable pair P44, a sixteenth connecting rod 16 and a forty-fifth rotation pair R45 which are connected in sequence are also provided between the fifteenth connecting rod assembly 15 and the base 1 ; the forty-fifth rotation pair R45 is also connected to the base 1 , and the forty-fourth movable pair P44 is also connected to the fifteenth connecting rod assembly 15 .

[0025] The fifteenth connecting rod assembly 15 includes a third support rod 15-1 and a fourth support rod 15-2; the first end of the third support rod 15-1 is connected to the forty-sixth movable pair P46, and the second end of the third support rod 15-1 is connected to the forty-third movable pair P43; the first end of the fourth support rod 15-2 is connected to the rod body of the third support rod 15-1, and the second end of the fourth support rod 15-2 is connected to the forty-fourth movable pair P44.

[0026] The thirty-first moving pair P31 is connected to a moving driving motor.

[0027] The forty-first movable pair P41 is connected to a movable driving motor.

[0028] The present invention also provides a driving method for the above-mentioned 3T1R motion mode parallel robot that is completely decoupled relative to the moving platform coordinate system, specifically: controlling the rotating drive motor connected to the eleventh rotating pair R11 to control the rotation of the moving platform 22 relative to the moving platform coordinate system, controlling the moving drive motor connected to the twenty-first moving pair P21 to control the one-dimensional movement of the moving platform 22 relative to the moving platform coordinate system, controlling the moving drive motor connected to the thirty-first moving pair P31 and controlling the moving drive motor connected to the forty-first moving pair P41 to control other two-dimensional movements of the moving platform 22 relative to the moving platform coordinate system.

[0029] like Figure 1 As shown, the second link 2 is rotationally connected to the base 1 through the eleventh rotating pair R11, the third link 3 is movably connected to the second link 2 through the twelfth movable pair P12, the fourth link 4 is movably connected to the third link 3 through the thirteenth movable pair P13, the eighteenth link 18 is movably connected to the fourth link 4 through the fourteenth movable pair P14, and the eighteenth link 18 is also fixedly connected to the moving platform 22.

[0030] Figure 1 In the shown mechanism configuration, the fifth connecting rod 5 is movably connected to the base 1 through the twenty-first moving pair P21, and the sixth connecting rod 6 is rotationally connected to the fifth connecting rod 5 through the twenty-second rotation pair R22. The seventh connecting rod 7 is movably connected to the sixth connecting rod 6 through the twenty-third moving pair P23, and the nineteenth connecting rod 19 is movably connected to the seventh connecting rod 7 through the twenty-fourth moving pair P24. The nineteenth connecting rod 19 is also fixed to the moving platform 22.

[0031] Figure 1 In the shown mechanism configuration, the eighth connecting rod 8 is movably connected to the base 1 through the thirty-first moving pair P31, the ninth connecting rod 9 is rotationally connected to the eighth connecting rod 8 through the thirty-second rotation pair R32, and the first support rod 10-1 is movably connected to the ninth connecting rod 9 through the thirty-third moving pair P33. The eleventh connecting rod 11 is movably connected to the second supporting rod 10-2 through the thirty-fourth moving pair P34, and the eleventh connecting rod 11 is rotationally connected to the base 1 through the thirty-fifth rotation pair R35. The twelfth connecting rod 12 is movably connected to the first supporting rod 10-1 through the thirty-sixth moving pair P36, and the twentieth connecting rod 20 is movably connected to the twelfth connecting rod 12 through the thirty-seventh moving pair P37, and the twentieth connecting rod 20 is also fixed to the moving platform 22.

[0032] The thirteenth connecting rod 13 is movably connected to the base 1 through the forty-first moving pair P41, the fourteenth connecting rod 14 is rotatably connected to the thirteenth connecting rod 13 through the forty-second rotation pair R42, the third supporting rod 15-1 is movably connected to the fourteenth connecting rod 14 through the forty-third moving pair P43. The fourth supporting rod 15-2 is movably connected to the sixteenth connecting rod 16 through the forty-fourth moving pair P44, and the sixteenth connecting rod 16 is connected to the base 1 through the forty-fifth rotation pair R45.

[0033] The third support rod 15-1 is movably connected to the seventeenth connecting rod 17 via the forty-sixth movable pair P46, the seventeenth connecting rod 17 is movably connected to the twenty-first connecting rod 21 via the forty-seventh movable pair P47, and the twenty-first connecting rod 21 is also fixedly connected to the moving platform.

[0034] Figure 1 In the shown mechanism configuration, the axis of the eleventh rotating pair R11 coincides with the Z axis of the fixed coordinate system, the moving direction of the twelfth movable pair P12 is parallel to the Z axis of the fixed coordinate system, the moving direction of the thirteenth movable pair P13 is parallel to the X axis of the fixed coordinate system, and the moving direction of the fourteenth movable pair P14 is parallel to the Y axis of the fixed coordinate system.

[0035] Figure 1 In the shown mechanism configuration, the moving direction of the twenty-first movable pair P21 is parallel to the Z axis of the fixed coordinate system, the axis of the twenty-second rotation pair R22 coincides with the Z axis of the fixed coordinate system, the moving direction of the twenty-third movable pair P23 is parallel to the Y axis of the fixed coordinate system, and the moving direction of the twenty-fourth movable pair P24 is parallel to the X axis of the fixed coordinate system.

[0036] Figure 1 Under the shown mechanism configuration, the moving direction of the thirty-first movable pair P31 is parallel to the Z axis of the fixed coordinate system, the axis of the thirty-second rotating pair R32 coincides with the Z axis of the fixed coordinate system, the moving direction of the thirty-third movable pair P33 is parallel to the Y axis, the moving direction of the thirty-fourth movable pair P34 is parallel to the YOZ plane, the moving direction of the thirty-sixth movable pair P36 is parallel to the Z axis, and the moving direction of the thirty-seventh movable pair P37 is parallel to the X axis.

[0037] The moving direction of the 41st moving pair P41 is parallel to the Z axis of the fixed coordinate system, the axis of the 42nd rotating pair R42 coincides with the Z axis of the fixed coordinate system, the moving direction of the 43rd moving pair P43 is parallel to the X axis of the fixed coordinate system, and the moving direction of the 44th moving pair P44 is parallel to the XOZ plane of the fixed coordinate system. The axis of the 45th rotating pair R45 coincides with the Z axis of the fixed coordinate system. The moving direction of the 46th moving pair P46 is parallel to the Y axis of the fixed coordinate system, and the moving direction of the 47th moving pair P47 is parallel to the Z axis of the fixed coordinate system.

[0038] Figure 1 In the shown mechanism configuration, the moving coordinate system xyz fixed on the moving platform 22 and the fixed coordinate system XYZ fixed on the base 1 coincide with each other.

[0039] Figure 1 In the shown configuration, the eleventh rotation pair R11 is connected to a rotation drive motor to control the rotation of the moving platform 22. Figure 2 The x-axis of the moving coordinate system xyz shown rotates about a fixed axis.

[0040] Figure 1 In the shown configuration, the twenty-first moving pair P21 is connected to a moving drive motor to control the moving platform 22 to move along the Figure 2 The z-axis of the moving coordinate system xyz shown moves.

[0041] Figure 1 In the shown configuration, the thirty-first moving pair P31 is connected to a moving drive motor to control the moving platform 22 to move along Figure 2 The y-axis of the moving coordinate system xyz shown moves.

[0042] Figure 1 In the shown configuration, the forty-first moving pair P41 is connected to a moving drive motor to control the moving platform 22 to move along the Figure 2 The x-axis of the moving coordinate system xyz shown moves.

[0043] exist Figure 1 In the shown mechanical configuration, the rotation drive motor connected to the eleventh rotation pair R11 is controlled, the movement drive motor connected to the twenty-first movement pair P21 is controlled, the movement drive motor connected to the thirty-first movement pair P31 is controlled, and the movement drive motor connected to the forty-first movement pair P41 is controlled, so that the robot moves to Figure 2 The configuration shown.

[0044] Figure 2 In the robot configuration shown, the axis of the eleventh rotation pair R11 coincides with the z-axis of the moving coordinate system, the moving direction of the twelfth movement pair P12 is parallel to the z-axis of the moving coordinate system, the moving direction of the thirteenth movement pair P13 is parallel to the x-axis of the moving coordinate system, and the moving direction of the fourteenth movement pair P14 is parallel to the y-axis of the moving coordinate system.

[0045] Figure 2 In the shown mechanism configuration, the moving direction of the twenty-first movable pair P21 is parallel to the z-axis of the moving coordinate system, the axis of the twenty-second rotation pair R22 coincides with the z-axis of the moving coordinate system, the moving direction of the twenty-third movable pair P23 is parallel to the y-axis of the moving coordinate system, and the direction of the twenty-fourth movable pair P24 is parallel to the x-axis of the moving coordinate system.

[0046] Figure 2In the shown mechanism configuration, the direction of the thirty-first movable pair P31 is parallel to the z-axis of the moving coordinate system, the axis of the thirty-second rotating pair R32 coincides with the z-axis of the moving coordinate system, the moving direction of the thirty-third movable pair P33 coincides with the y-axis of the moving coordinate system, the moving direction of the thirty-fourth movable pair P34 is parallel to the yoz plane of the moving coordinate system, the moving direction of the thirty-sixth movable pair P36 is parallel to the z-axis of the moving coordinate system, and the moving direction of the thirty-seventh movable pair P37 is parallel to the x-axis of the moving coordinate system.

[0047] The moving direction of the 41st moving pair P41 is parallel to the z-axis of the moving coordinate system, the axis of the 42nd rotating pair R42 coincides with the z-axis of the moving coordinate system, the moving direction of the 43rd moving pair P43 is parallel to the x-axis of the moving coordinate system, and the moving direction of the 44th moving pair P44 is parallel to the xoz plane of the moving coordinate system. The axis of the 45th rotating pair R45 coincides with the z-axis of the moving coordinate system. The moving direction of the 46th moving pair P46 is parallel to the y-axis of the moving coordinate system, and the moving direction of the 47th moving pair P47 is parallel to the z-axis of the moving coordinate system.

[0048] The parallel robot of the present invention has four drives which can independently control the fixed moving coordinate system of the moving platform to perform three-dimensional movement along the x, y and z axes and a fixed-axis rotation movement. The robot has completely decoupled kinematic characteristics.

[0049] Example 1 A 3T1R motion mode parallel robot completely decoupled from a moving platform coordinate system comprises a base 1 and a moving platform 22, wherein a first motion chain, a second motion chain, a third motion chain and a fourth motion chain are connected between the base 1 and the moving platform 22; The first kinematic chain includes the eleventh rotation pair R11, the second link 2, the twelfth motion pair P12, the third link 3, the thirteenth motion pair P13, the fourth link 4, the fourteenth motion pair P14 and the eighteenth link 18 connected in sequence; the eighteenth link 18 is also connected to the moving platform 22, and the eleventh rotation pair R11 is also connected to the base 1.

[0050] Example 2 A 3T1R motion mode parallel robot completely decoupled from a moving platform coordinate system comprises a base 1 and a moving platform 22, wherein a first motion chain, a second motion chain, a third motion chain and a fourth motion chain are connected between the base 1 and the moving platform 22; The first kinematic chain includes the eleventh rotation pair R11, the second connecting rod 2, the twelfth movable pair P12, the third connecting rod 3, the thirteenth movable pair P13, the fourth connecting rod 4, the fourteenth movable pair P14 and the eighteenth connecting rod 18 connected in sequence; the eighteenth connecting rod 18 is also fixedly connected to the moving platform 22, and the eleventh rotation pair R11 is also connected to the base 1.

[0051] The second kinematic chain includes a twenty-first moving pair P21, a fifth connecting rod 5, a twenty-second rotating pair R22, a sixth connecting rod 6, a twenty-third moving pair P23, a seventh connecting rod 7, a twenty-fourth moving pair P24 and a nineteenth connecting rod 19 which are connected in sequence; the nineteenth connecting rod 19 is also fixedly connected to the moving platform 22, and the twenty-first moving pair P21 is also connected to the base 1; The sixth connecting rod 6 is a broken line connecting rod with a breaking point; The eleventh rotating pair R11 is connected to a rotating driving motor; The twenty-first moving pair P21 is connected to a moving driving motor.

[0052] Example 3 A 3T1R motion mode parallel robot completely decoupled from a moving platform coordinate system comprises a base 1 and a moving platform 22, wherein a first motion chain, a second motion chain, a third motion chain and a fourth motion chain are connected between the base 1 and the moving platform 22; The first kinematic chain includes the eleventh rotation pair R11, the second link 2, the twelfth motion pair P12, the third link 3, the thirteenth motion pair P13, the fourth link 4, the fourteenth motion pair P14 and the eighteenth link 18 connected in sequence; the eighteenth link 18 is also connected to the moving platform 22, and the eleventh rotation pair R11 is also connected to the base 1.

[0053] The second kinematic chain includes a twenty-first moving pair P21, a fifth connecting rod 5, a twenty-second rotating pair R22, a sixth connecting rod 6, a twenty-third moving pair P23, a seventh connecting rod 7, a twenty-fourth moving pair P24 and a nineteenth connecting rod 19 which are connected in sequence; the nineteenth connecting rod 19 is also connected to the moving platform 22, and the twenty-first moving pair P21 is also connected to the base 1; The sixth connecting rod 6 is a broken line connecting rod with a breaking point; The eleventh rotating pair R11 is connected to a rotating driving motor; The twenty-first moving pair P21 is connected to a moving driving motor.

[0054] The third kinematic chain includes a thirty-first moving pair P31, an eighth connecting rod 8, a thirty-second rotating pair R32, a ninth connecting rod 9, a thirty-third moving pair P33, a tenth connecting rod assembly 10, a thirty-sixth moving pair P36, a twelfth connecting rod 12, a thirty-seventh moving pair P37 and a twentieth connecting rod 20 which are connected in sequence; the twentieth connecting rod 20 is also connected to the moving platform 22, and the thirty-first moving pair P31 is also connected to the base 1; The twelfth connecting rod 12 is a broken line connecting rod with a breaking point; A thirty-fourth movable pair P34 , an eleventh connecting rod 11 and a thirty-fifth rotational pair R35 which are connected in sequence are also provided between the tenth connecting rod assembly 10 and the base 1 ; the thirty-fifth rotational pair R35 is also connected to the base 1 , and the thirty-fourth movable pair P34 is also connected to the tenth connecting rod assembly 10 .

[0055] Example 4 A 3T1R motion mode parallel robot completely decoupled from a moving platform coordinate system comprises a base 1 and a moving platform 22, wherein a first motion chain, a second motion chain, a third motion chain and a fourth motion chain are connected between the base 1 and the moving platform 22; The first kinematic chain includes the eleventh rotation pair R11, the second link 2, the twelfth motion pair P12, the third link 3, the thirteenth motion pair P13, the fourth link 4, the fourteenth motion pair P14 and the eighteenth link 18 connected in sequence; the eighteenth link 18 is also connected to the moving platform 22, and the eleventh rotation pair R11 is also connected to the base 1.

[0056] The second kinematic chain includes a twenty-first moving pair P21, a fifth connecting rod 5, a twenty-second rotating pair R22, a sixth connecting rod 6, a twenty-third moving pair P23, a seventh connecting rod 7, a twenty-fourth moving pair P24 and a nineteenth connecting rod 19 which are connected in sequence; the nineteenth connecting rod 19 is also connected to the moving platform 22, and the twenty-first moving pair P21 is also connected to the base 1; The sixth connecting rod 6 is a broken line connecting rod with a breaking point; The eleventh rotating pair R11 is connected to a rotating driving motor; The twenty-first moving pair P21 is connected to a moving driving motor.

[0057] The third kinematic chain includes a thirty-first moving pair P31, an eighth connecting rod 8, a thirty-second rotating pair R32, a ninth connecting rod 9, a thirty-third moving pair P33, a tenth connecting rod assembly 10, a thirty-sixth moving pair P36, a twelfth connecting rod 12, a thirty-seventh moving pair P37 and a twentieth connecting rod 20 which are connected in sequence; the twentieth connecting rod 20 is also connected to the moving platform 22, and the thirty-first moving pair P31 is also connected to the base 1; The twelfth connecting rod 12 is a broken line connecting rod with a breaking point; A thirty-fourth movable pair P34 , an eleventh connecting rod 11 and a thirty-fifth rotational pair R35 which are connected in sequence are also provided between the tenth connecting rod assembly 10 and the base 1 ; the thirty-fifth rotational pair R35 is also connected to the base 1 , and the thirty-fourth movable pair P34 is also connected to the tenth connecting rod assembly 10 .

[0058] The tenth connecting rod assembly 10 includes a first supporting rod 10-1 and a second supporting rod 10-2; the first supporting rod 10-1 is a broken line connecting rod with a breaking point; The first end of the first support rod 10-1 is connected to the thirty-sixth movable pair P36, and the second end of the first support rod 10-1 is connected to the thirty-third movable pair P33; the first end of the second support rod 10-2 is connected to the rod body of the first support rod 10-1, and the second end of the second support rod 10-2 is connected to the thirty-fourth movable pair P34.

[0059] Example 5 A 3T1R motion mode parallel robot completely decoupled from a moving platform coordinate system comprises a base 1 and a moving platform 22, wherein a first motion chain, a second motion chain, a third motion chain and a fourth motion chain are connected between the base 1 and the moving platform 22; The first kinematic chain includes the eleventh rotation pair R11, the second link 2, the twelfth motion pair P12, the third link 3, the thirteenth motion pair P13, the fourth link 4, the fourteenth motion pair P14 and the eighteenth link 18 connected in sequence; the eighteenth link 18 is also connected to the moving platform 22, and the eleventh rotation pair R11 is also connected to the base 1.

[0060] The second kinematic chain includes a twenty-first moving pair P21, a fifth connecting rod 5, a twenty-second rotating pair R22, a sixth connecting rod 6, a twenty-third moving pair P23, a seventh connecting rod 7, a twenty-fourth moving pair P24 and a nineteenth connecting rod 19 which are connected in sequence; the nineteenth connecting rod 19 is also connected to the moving platform 22, and the twenty-first moving pair P21 is also connected to the base 1; The sixth connecting rod 6 is a broken line connecting rod with a breaking point; The eleventh rotating pair R11 is connected to a rotating driving motor; The twenty-first moving pair P21 is connected to a moving driving motor.

[0061] The third kinematic chain includes a thirty-first moving pair P31, an eighth connecting rod 8, a thirty-second rotating pair R32, a ninth connecting rod 9, a thirty-third moving pair P33, a tenth connecting rod assembly 10, a thirty-sixth moving pair P36, a twelfth connecting rod 12, a thirty-seventh moving pair P37 and a twentieth connecting rod 20 which are connected in sequence; the twentieth connecting rod 20 is also connected to the moving platform 22, and the thirty-first moving pair P31 is also connected to the base 1; The twelfth connecting rod 12 is a broken line connecting rod with a breaking point; A thirty-fourth movable pair P34 , an eleventh connecting rod 11 and a thirty-fifth rotational pair R35 which are connected in sequence are also provided between the tenth connecting rod assembly 10 and the base 1 ; the thirty-fifth rotational pair R35 is also connected to the base 1 , and the thirty-fourth movable pair P34 is also connected to the tenth connecting rod assembly 10 .

[0062] The tenth connecting rod assembly 10 includes a first supporting rod 10-1 and a second supporting rod 10-2; the first supporting rod 10-1 is a broken line connecting rod with a breaking point; The first end of the first support rod 10-1 is connected to the thirty-sixth movable pair P36, and the second end of the first support rod 10-1 is connected to the thirty-third movable pair P33; the first end of the second support rod 10-2 is connected to the rod body of the first support rod 10-1, and the second end of the second support rod 10-2 is connected to the thirty-fourth movable pair P34.

[0063] The fourth kinematic chain includes a forty-first moving pair P41, a thirteenth connecting rod 13, a forty-second rotating pair R42, a fourteenth connecting rod 14, a forty-third moving pair P43, a fifteenth connecting rod assembly 15, a forty-sixth moving pair P46, a seventeenth connecting rod 17, a forty-seventh moving pair P47 and a twenty-first connecting rod 21 which are connected in sequence; the twenty-first connecting rod 21 is also connected to the moving platform 22, and the forty-first moving pair P41 is also connected to the base 1; A forty-fourth movable pair P44, a sixteenth connecting rod 16 and a forty-fifth rotation pair R45 which are connected in sequence are also provided between the fifteenth connecting rod assembly 15 and the base 1 ; the forty-fifth rotation pair R45 is also connected to the base 1 , and the forty-fourth movable pair P44 is also connected to the fifteenth connecting rod assembly 15 .

[0064] Example 6 A 3T1R motion mode parallel robot completely decoupled from a moving platform coordinate system comprises a base 1 and a moving platform 22, wherein a first motion chain, a second motion chain, a third motion chain and a fourth motion chain are connected between the base 1 and the moving platform 22; The first kinematic chain includes the eleventh rotation pair R11, the second link 2, the twelfth motion pair P12, the third link 3, the thirteenth motion pair P13, the fourth link 4, the fourteenth motion pair P14 and the eighteenth link 18 connected in sequence; the eighteenth link 18 is also connected to the moving platform 22, and the eleventh rotation pair R11 is also connected to the base 1.

[0065] The second kinematic chain includes a twenty-first moving pair P21, a fifth connecting rod 5, a twenty-second rotating pair R22, a sixth connecting rod 6, a twenty-third moving pair P23, a seventh connecting rod 7, a twenty-fourth moving pair P24 and a nineteenth connecting rod 19 which are connected in sequence; the nineteenth connecting rod 19 is also connected to the moving platform 22, and the twenty-first moving pair P21 is also connected to the base 1; The sixth connecting rod 6 is a broken line connecting rod with a breaking point; The eleventh rotating pair R11 is connected to a rotating driving motor; The twenty-first moving pair P21 is connected to a moving driving motor.

[0066] The third kinematic chain includes a thirty-first moving pair P31, an eighth connecting rod 8, a thirty-second rotating pair R32, a ninth connecting rod 9, a thirty-third moving pair P33, a tenth connecting rod assembly 10, a thirty-sixth moving pair P36, a twelfth connecting rod 12, a thirty-seventh moving pair P37 and a twentieth connecting rod 20 which are connected in sequence; the twentieth connecting rod 20 is also connected to the moving platform 22, and the thirty-first moving pair P31 is also connected to the base 1; The twelfth connecting rod 12 is a broken line connecting rod with a breaking point; A thirty-fourth movable pair P34 , an eleventh connecting rod 11 and a thirty-fifth rotational pair R35 which are connected in sequence are also provided between the tenth connecting rod assembly 10 and the base 1 ; the thirty-fifth rotational pair R35 is also connected to the base 1 , and the thirty-fourth movable pair P34 is also connected to the tenth connecting rod assembly 10 .

[0067] The tenth connecting rod assembly 10 includes a first supporting rod 10-1 and a second supporting rod 10-2; the first supporting rod 10-1 is a broken line connecting rod with a breaking point; The first end of the first support rod 10-1 is connected to the thirty-sixth movable pair P36, and the second end of the first support rod 10-1 is connected to the thirty-third movable pair P33; the first end of the second support rod 10-2 is connected to the rod body of the first support rod 10-1, and the second end of the second support rod 10-2 is connected to the thirty-fourth movable pair P34.

[0068] The fourth kinematic chain includes a forty-first moving pair P41, a thirteenth connecting rod 13, a forty-second rotating pair R42, a fourteenth connecting rod 14, a forty-third moving pair P43, a fifteenth connecting rod assembly 15, a forty-sixth moving pair P46, a seventeenth connecting rod 17, a forty-seventh moving pair P47 and a twenty-first connecting rod 21 which are connected in sequence; the twenty-first connecting rod 21 is also connected to the moving platform 22, and the forty-first moving pair P41 is also connected to the base 1; A forty-fourth movable pair P44, a sixteenth connecting rod 16 and a forty-fifth rotation pair R45 which are connected in sequence are also provided between the fifteenth connecting rod assembly 15 and the base 1 ; the forty-fifth rotation pair R45 is also connected to the base 1 , and the forty-fourth movable pair P44 is also connected to the fifteenth connecting rod assembly 15 .

[0069] The fifteenth connecting rod assembly 15 includes a third support rod 15-1 and a fourth support rod 15-2; the first end of the third support rod 15-1 is connected to the forty-sixth movable pair P46, and the second end of the third support rod 15-1 is connected to the forty-third movable pair P43; the first end of the fourth support rod 15-2 is connected to the rod body of the third support rod 15-1, and the second end of the fourth support rod 15-2 is connected to the forty-fourth movable pair P44.

Claims

1. A 3T1R motion mode parallel robot with complete decoupling relative to the moving platform coordinate system, characterized in that: It comprises a base (1) and a moving platform (22), wherein a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are connected between the base (1) and the moving platform (22); The first kinematic chain comprises an eleventh rotational pair R11, a second connecting rod (2), a twelfth movable pair P12, a third connecting rod (3), a thirteenth movable pair P13, a fourth connecting rod (4), a fourteenth movable pair P14 and an eighteenth connecting rod (18) which are connected in sequence; the eighteenth connecting rod (18) is also connected to the moving platform (22), and the eleventh rotational pair R11 is also connected to the base (1).

2. The 3T1R motion mode parallel robot with complete decoupling relative to the moving platform coordinate system according to claim 1, characterized in that: The second kinematic chain comprises a twenty-first movable pair P21, a fifth connecting rod (5), a twenty-second rotational pair R22, a sixth connecting rod (6), a twenty-third movable pair P23, a seventh connecting rod (7), a twenty-fourth movable pair P24 and a nineteenth connecting rod (19) which are connected in sequence; the nineteenth connecting rod (19) is also connected to the moving platform (22), and the twenty-first movable pair P21 is also connected to the base (1); The sixth connecting rod (6) is a broken line connecting rod having a breaking point; The eleventh rotating pair R11 is connected to a rotating driving motor; The twenty-first moving pair P21 is connected to a moving driving motor.

3. The 3T1R motion mode parallel robot with complete decoupling relative to the moving platform coordinate system according to claim 1, characterized in that: The third kinematic chain comprises a thirty-first movable pair P31, an eighth connecting rod (8), a thirty-second rotation pair R32, a ninth connecting rod (9), a thirty-third movable pair P33, a tenth connecting rod assembly (10), a thirty-sixth movable pair P36, a twelfth connecting rod (12), a thirty-seventh movable pair P37 and a twentieth connecting rod (20) which are connected in sequence; the twentieth connecting rod (20) is also connected to the moving platform (22), and the thirty-first movable pair P31 is also connected to the base (1); The twelfth connecting rod (12) is a broken line connecting rod having a breaking point; A thirty-fourth movable pair P34, an eleventh connecting rod (11) and a thirty-fifth rotational pair R35 which are connected in sequence are also provided between the tenth connecting rod assembly (10) and the base (1); the thirty-fifth rotational pair R35 is also connected to the base (1), and the thirty-fourth movable pair P34 is also connected to the tenth connecting rod assembly (10).

4. The 3T1R motion mode parallel robot with complete decoupling relative to the moving platform coordinate system according to claim 3, characterized in that: The tenth connecting rod assembly (10) comprises a first supporting rod (10-1) and a second supporting rod (10-2); the first supporting rod (10-1) is a broken line connecting rod having a bending point; The first end of the first support rod (10-1) is connected to the thirty-sixth movable pair P36, and the second end of the first support rod (10-1) is connected to the thirty-third movable pair P33; the first end of the second support rod (10-2) is connected to the rod body of the first support rod (10-1), and the second end of the second support rod (10-2) is connected to the thirty-fourth movable pair P34.

5. The 3T1R motion mode parallel robot with complete decoupling relative to the moving platform coordinate system according to claim 1, characterized in that: The fourth kinematic chain comprises a forty-first moving pair P41, a thirteenth connecting rod (13), a forty-second rotating pair R42, a fourteenth connecting rod (14), a forty-third moving pair P43, a fifteenth connecting rod assembly (15), a forty-sixth moving pair P46, a seventeenth connecting rod (17), a forty-seventh moving pair P47 and a twenty-first connecting rod (21) which are connected in sequence; the twenty-first connecting rod (21) is also connected to the moving platform (22), and the forty-first moving pair P41 is also connected to the base (1); A forty-fourth movable pair P44, a sixteenth connecting rod (16) and a forty-fifth rotation pair R45 which are connected in sequence are also provided between the fifteenth connecting rod assembly (15) and the base (1); the forty-fifth rotation pair R45 is also connected to the base (1), and the forty-fourth movable pair P44 is also connected to the fifteenth connecting rod assembly (15).

6. The 3T1R motion mode parallel robot with complete decoupling relative to the moving platform coordinate system according to claim 1, characterized in that: The fifteenth connecting rod assembly (15) comprises a third support rod (15-1) and a fourth support rod (15-2); the first end of the third support rod (15-1) is connected to the forty-sixth movable pair P46, and the second end of the third support rod (15-1) is connected to the forty-third movable pair P43; the first end of the fourth support rod (15-2) is connected to the rod body of the third support rod (15-1), and the second end of the fourth support rod (15-2) is connected to the forty-fourth movable pair P44.

7. The 3T1R motion mode parallel robot with complete decoupling relative to the moving platform coordinate system according to claim 3, characterized in that: The thirty-first moving pair P31 is connected to a moving driving motor.

8. The 3T1R motion mode parallel robot with complete decoupling relative to the moving platform coordinate system according to claim 5, characterized in that: The forty-first moving pair P41 is connected to a moving driving motor.

9. The driving method of a parallel robot with 3T1R motion mode and completely decoupled relative to the moving platform coordinate system according to any one of claims 1 to 8, characterized in that: Specifically, the rotation drive motor connected to the eleventh rotation pair R11 is controlled to control the rotation of the moving platform (22) relative to the moving platform coordinate system, the movement drive motor connected to the twenty-first movement pair P21 is controlled to control the one-dimensional movement of the moving platform (22) relative to the moving platform coordinate system, and the movement drive motor connected to the thirty-first movement pair P31 and the movement drive motor connected to the forty-first movement pair P41 are controlled to control other two-dimensional movements of the moving platform (22) relative to the moving platform coordinate system.

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