A two-loop translational and rotational parallel robot

Abstract

The present application belongs to parallel robot technical field, and specifically relates to a two-loop one-translation two-rotation parallel robot. The driving mode of the conventional parallel robot is not flexible enough, the mutual influence between multiple driving inputs is relatively large, the motion decoupling is poor, and the requirements of the simulation training device on specific motion simulation cannot be well met. In view of the above problems, the present application provides a two-loop one-translation two-rotation parallel robot, the topological structure of which comprises a static platform, a dynamic platform and a simple branch chain I, a simple branch chain II and a simple branch chain III for connecting the static platform and the dynamic platform, the first moving pair, the second moving pair and the third moving pair of the simple branch chain I, the simple branch chain II and the simple branch chain III are driving pairs, and through different driving combinations, the dynamic platform can realize various motion forms such as translation along the Z axis, rotation around the X axis or the Y axis, and has good motion decoupling.

Description

Technical Field

[0001] This invention belongs to the field of parallel robot technology, specifically relating to a parallel robot with two loops, one translation and two rotations. Background Technology

[0002] In the field of robotics, parallel robots, with their unique structural characteristics such as high rigidity, strong load-bearing capacity, high precision, and excellent dynamic performance, have been widely used in numerous fields, including industrial production, simulation training, and medical equipment. Compared with serial robots, parallel robots have significant advantages in stability and adaptability to complex tasks.

[0003] In the field of simulation training equipment, such as racing simulators, flight trainers, and special vehicle driving trainers, high requirements are placed on the motion freedom and dynamic performance of the simulation platform. Taking racing simulators as an example, in order to create a highly immersive driving experience for users, the simulation platform needs to accurately realize rotation around the X-axis to simulate the pitch motion of a vehicle during acceleration or braking, rotation around the Y-axis to simulate the roll motion of a vehicle during cornering, and movement along the Z-axis to simulate the bumps, undulations, and partial vertical acceleration of the road surface.

[0004] Currently, most common simulation platforms employ six-degrees-of-freedom (6DOF) platforms. While 6DOF platforms can achieve relatively complex movements, their complex structure, containing multiple kinematic pairs and branches, not only leads to high manufacturing costs but also significantly increases maintenance difficulty and costs. Maintenance often requires a substantial investment of time and effort from specialized technicians. More importantly, for simulation training equipment, not all degrees of freedom are key factors in generating "motion perception." Some degrees of freedom in a 6DOF platform have relatively limited practical application, yet unnecessarily increase the overall cost and complexity.

[0005] Furthermore, some existing parallel robots have significant shortcomings in motion control. The drive mechanisms of some parallel robots are not flexible enough, making it difficult to achieve precise motion control in specific directions and failing to adequately meet the requirements of simulation training equipment for specific motion simulations. Moreover, in terms of the input-output motion relationship of the mechanism, some parallel robots exhibit coupling problems, meaning that the mutual influence between multiple drive inputs is significant, making motion control more complex and difficult to achieve precise motion output.

[0006] Therefore, developing a parallel robot with a simple structure, low cost, convenient maintenance, and good input-output motion decoupling to meet the main motion requirements of simulation training equipment is of significant practical importance. This invention proposes a two-loop parallel robot with one translational and two rotational loops. Through rational design of the branch structure and drive method, it effectively solves the problems existing in the prior art and can be widely applied in mid-to-high-end racing simulators, low-cost flight trainers, and special vehicle driving training. Summary of the Invention

[0007] The existing technology has the following problems: the driving method of conventional parallel robots is not flexible enough, the mutual influence between multiple driving inputs is large, the motion decoupling is poor, and it cannot well meet the requirements of simulation training equipment for specific motion simulation. In order to address the above problems, the present invention provides a two-loop parallel robot with one translation and two rotations, the topology of which includes a static platform, a moving platform, and simple branches I, II, and III for connecting the static platform and the moving platform;

[0008] Simple branch I includes a first prismatic joint, several revolute joints and U-joint I connected in sequence. The first prismatic joint is located on the stationary platform, and U-joint I is connected to the first end of the moving platform.

[0009] Simple branch II includes a second prismatic joint, several revolute joints and U-joint II connected in sequence. The second prismatic joint is located on the stationary platform, and U-joint II is connected to the second end of the moving platform.

[0010] Simple branch III includes a third prismatic joint, several revolute joints and U-joint III connected in sequence. The third prismatic joint is located on the stationary platform, and U-joint III is connected to the third end of the moving platform.

[0011] With the first, second, and third prismatic joints as driving joints, the moving platform translates along the Z-axis and rotates around the X-axis or Y-axis.

[0012] Preferably, the moving platform translates along the Z-axis with the first, second, and third moving joints simultaneously as driving joints, rotates around the X-axis with the first and third moving joints simultaneously as driving joints, and rotates around the Y-axis with only the second moving joint as the driving joint.

[0013] Preferably, the simple branch I is formed by a first prismatic joint, a first rotary joint, a second rotary joint and a U-joint connected in series. The U-joint is formed by a third rotary joint and a fourth rotary joint connected in series, with their axes perpendicular to each other to form a cross-shaped structure. The third rotary joint is connected to the second rotary joint, and one end of the fourth rotary joint is connected to the first segment of the moving platform.

[0014] Preferably, the axes of the first prismatic joint are parallel to those of the first rotary joint, the second rotary joint, and the fourth rotary joint.

[0015] Preferably, the simple branch II is formed by connecting the second prismatic joint, the fifth rotary joint and the second U-joint in series. The second U-joint is formed by connecting the sixth rotary joint and the seventh rotary joint in series, which form a cross-shaped structure with their axes perpendicular to each other. The sixth rotary joint is connected to the fifth rotary joint, and the seventh rotary joint is connected to the second end of the moving platform.

[0016] Preferably, the axes of the second sliding joint are parallel to those of the fifth and sixth revolute joints.

[0017] Preferably, the simple branch III is formed by the third prismatic joint, the eighth rotary joint and the U-joint in series. The U-joint is formed by the ninth rotary joint and the tenth rotary joint in series, which form a cross-shaped structure with their axes perpendicular to each other. The ninth rotary joint is connected to the eighth rotary joint, and the tenth rotary joint is connected to the third end of the moving platform.

[0018] Preferably, the axes of the third sliding joint and the eighth rotary joint are perpendicular to each other, the axes of the third sliding joint and the tenth rotary joint are parallel to each other, and the axes of the eighth rotary joint and the ninth rotary joint are parallel to each other.

[0019] Preferably, the axes of the third sliding joint and the first sliding joint are parallel to each other, the axes of the first sliding joint and the second sliding joint are perpendicular to each other, the axes of the fourth revolute joint and the seventh revolute joint are parallel to each other, and the axes of the seventh revolute joint and the tenth revolute joint are parallel to each other.

[0020] An electric actuator is provided, which adopts the above-mentioned parallel robot with good motion decoupling and two loops, one translation and two rotations, as its robot topology. The electric actuator drives the seat to translate along the Z-axis or rotate around the X-axis or around the Y-axis. The seat is mounted on a moving platform. The electric actuator is used in racing simulators, flight trainers or special vehicle driving trainers.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] Simplified Structure and Reduced Costs: Conventional six-degree-of-freedom platforms are complex, containing numerous kinematic pairs and branches, resulting in high manufacturing costs and cumbersome maintenance processes that require significant time and effort from specialized technicians. In contrast, the parallel robot of this invention, through a rationally designed branch structure, employs only a static platform, a moving platform, and three simple branches. This significantly simplifies the structure while achieving the required motion functions, effectively reducing manufacturing and maintenance costs. It is suitable for cost-sensitive applications such as mid-to-high-end racing simulators, low-cost flight trainers, and special vehicle driving training.

[0023] Excellent Motion Decoupling: Some existing parallel robots suffer from input-output motion coupling problems, with significant mutual influence among multiple drive inputs, increasing the complexity of motion control and making it difficult to achieve precise motion output. The parallel robot of this invention exhibits excellent input-output motion decoupling. When specific prismatic joints of each branch on the stationary platform are taken as drive joints, there is a clear correspondence between the inputs of different drive joints and the specific motion outputs of the moving platform. For example, the inputs of prismatic joints one and three jointly determine the rotation of the moving platform around the X-axis, the inputs of prismatic joints one, two, and three jointly determine the displacement of the moving platform in the z-axis direction, and the input of prismatic joint two determines the rotation of the moving platform around the Y-axis. This decoupling characteristic makes motion control simpler and more precise, effectively avoiding mutual interference between multiple drive inputs and improving the efficiency and accuracy of motion control.

[0024] Flexible driving methods and diverse motion outputs: The parallel robot of this invention uses a first, second, and third prismatic joint as driving joints. Through different driving combinations, it can achieve various motion forms such as translation along the Z-axis and rotation around the X-axis or Y-axis. Specifically, using all three prismatic joints as driving joints simultaneously enables translation along the Z-axis; using the first and third prismatic joints as driving joints simultaneously enables rotation around the X-axis; and using only the second prismatic joint as driving joint enables rotation around the Y-axis. This flexible driving method and diverse motion outputs can well meet the requirements of simulation training equipment for specific motion simulations, such as simulating pitch caused by vehicle acceleration / braking, roll caused by turning, and road bumps in a racing simulator.

[0025] Broad Application Prospects: The parallel robot of this invention, used as the electric actuator in its topology, can be widely applied in fields such as racing simulators, flight trainers, and special vehicle driving trainers. This electric actuator can directly drive the seat to achieve the required movement, providing users with a highly immersive experience. Compared to traditional simulation platforms, it meets motion requirements while offering a superior solution for related fields with lower costs and simpler maintenance processes, demonstrating broad market application prospects. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the topology of a parallel robot with two loops, one translation and two rotations, provided by the present invention.

[0027] Figure 2 This is an application scenario diagram of a parallel robot with two loops, one translation and two rotations, provided by the present invention.

[0028] In the diagram: 0. Static platform, 1. Dynamic platform, 2. Driver's seat, 3. Steering wheel, P 11 First moving pair, R 12 First revolute joint, R13 The second revolute joint, R 14 The third revolute joint, R 15 The fourth revolute joint, P 21 Second moving pair, R 22 The fifth revolute joint, R 23 The sixth revolute joint, R 24 The seventh revolute joint, P 31 Third moving pair, R 32 The eighth revolute joint, R 33 The ninth revolute joint, R 34 The tenth rotating joint. Detailed Implementation

[0029] The present invention will be described in detail below with reference to embodiments. However, it should be understood that the following embodiments are merely illustrative examples of implementation of the present invention and are not intended to limit the scope of the present invention.

[0030] As per the instruction manual Figure 1 As shown, this invention provides a parallel robot with two loops, one translation and two rotations. Its topology includes a static platform 0, a moving platform 1, and simple branches I, II and III for connecting the static platform 0 and the moving platform 1.

[0031] A simple branch I includes a first movable joint P connected in sequence. 11 Several revolute joints and U-joints, the first prismatic joint P 11 Located on the static platform 0, U-type component 1 is connected to the first end of the dynamic platform 1;

[0032] Simple branch II includes a second moving joint P connected in sequence. 21 Several revolute joints and U-joints, and a second prismatic joint P. 21 Located on the static platform 0, U-sub-2 is connected to the second end of the moving platform 1;

[0033] Simple branch III includes a third moving joint P connected in sequence. 31 Several revolute joints and U-joints, and the third prismatic joint P. 31 Located on the static platform 0, the U-shaped auxiliary three is connected to the third end of the dynamic platform 1;

[0034] With the first moving sub-P 11 Second moving sub-P 21 Third moving sub-P 31 As a driving pair, the moving platform 1 translates along the Z-axis and rotates around the X-axis or Y-axis.

[0035] In one specific embodiment, with the first moving sub-p... 11 Second moving sub-P 21 Third moving sub-P 31Simultaneously, as a driving pair, the moving platform 1 translates along the Z-axis, with the first moving pair P... 11 Third moving sub-P 31 Simultaneously acting as a driving pair, the moving platform 1 rotates around the X-axis, with only the second prismatic joint P acting as the driving pair. 21 As the driving pair, the moving platform 1 rotates around the Y-axis.

[0036] In one specific embodiment, the simple branch I is formed by the first moving joint P. 11 First revolute joint R 12 Second revolute joint R 13 It is formed by connecting U and one in series. U is a third revolute joint R with a cross-shaped structure formed by mutually perpendicular axes. 14 With the fourth revolute joint R 15 Formed in series, the third revolute joint R 14 With the second revolute joint R 13 Connection, fourth revolute joint R 15 One end is connected to the first segment of the moving platform 1.

[0037] In one specific embodiment, the first moving sub-p... 11 With the first revolute joint R 12 Second revolute joint R 13 Fourth revolute joint R 15 The axes are parallel to each other.

[0038] In one specific embodiment, simple branch II is formed by the second moving joint P. 21 Fifth revolute joint R 22 It is connected in series with U-type secondary joint, which is the sixth revolute joint R formed by the mutually perpendicular axes of U-type secondary joint. 23 With the seventh revolute joint R 24 Formed in series, the sixth revolute joint R 23 With the fifth revolute joint R 22 Connection, seventh revolute joint R 24 It is connected to the second end of the moving platform 1.

[0039] In one specific embodiment, the second moving sub-p... 21 With the fifth revolute joint R 22 The sixth revolute joint R 23 The axes are parallel to each other.

[0040] In one specific embodiment, simple branch III is formed by a third moving joint P. 31 Eighth rotating joint R 32 The U-type sub-sub ... 33 With the tenth revolute joint R 34 Formed in series, the ninth revolute joint R 33 With the eighth revolute joint R32 Connection, tenth revolute joint R 34 Connect to the third end of the moving platform 1.

[0041] In one specific embodiment, the third moving sub-p... 31 With the eighth revolute joint R 32 The axes are perpendicular to each other, and the third sliding joint P 31 With the tenth revolute joint R 34 The axes are parallel to each other, and the eighth revolute joint R 32 With the ninth revolute joint R 33 The axes are parallel to each other.

[0042] In one specific embodiment, the third moving sub-p... 31 With the first moving sub-P 11 The axes are parallel to each other, and the first sliding joint P 11 With the second moving sub-P 21 The axes are perpendicular to each other, and the fourth revolute joint R 15 With the seventh revolute joint R 24 The axes are parallel to each other, and the seventh revolute joint R 24 With the tenth revolute joint R 34 The axes are parallel to each other.

[0043] An electric actuator (structural diagram as shown in the instruction manual) Figure 2 As shown, it adopts a two-loop parallel robot with good motion decoupling (one translation and two rotations) as its robot topology. Electric actuators drive the seat to translate along the Z-axis or rotate around the X-axis or around the Y-axis. The seat is mounted on the moving platform 1. The electric actuators are used in racing simulators, flight training devices, or special vehicle driving training devices. Compared to a six-DOF platform, the cost is significantly reduced, maintenance is simpler, and these three degrees of freedom are the most important parts for generating "body sensation," sufficient to provide a high degree of immersion.

[0044] The working principle of the electric actuator: A 3-DOF parallel mechanism drives the driver's seat platform 1 to achieve 1T2R (lifting along the Z-axis or rotating around the X and Y axes) motion output, used to simulate the pitch, roll, and vertical acceleration sensations of a vehicle under dynamic conditions. This mechanism is directly driven by three high-dynamic-performance electric actuators, and its specific working principle is as follows:

[0045] (1) The system starts, the electric actuator is reset, the moving platform 1 returns to the horizontal neutral position, and waits for driving simulation instructions;

[0046] (2) When slider P 21 When moving along the guide rail, it simulates the acceleration or braking of a vehicle. The actuator drives the platform to rotate around the Y-axis, generating a pitch angle to simulate the driver's feeling of being pushed back and the feeling of nose-diving during braking.

[0047] (3) When slider P 11 P 31 When moving along the guide rail, the steering wheel 3 is used to simulate a vehicle turning, and the actuator drives the moving platform 1 to rotate around the X-axis, generating a tilt angle to simulate the feeling of lateral force when turning.

[0048] (4) When slider P 11 P 21 P 31 When moving along the guide rail, it simulates road bumps or terrain undulations. The actuator drives the platform to move up and down along the Z-axis at high or low frequencies to simulate vertical vibration and road impact.

[0049] (5) Based on the real-time driving conditions, the control system performs coordinated coupling control of the three degrees of freedom of pitch, roll and heave, so that the attitude of the moving platform 1 continuously follows the motion signal output by the simulation model.

[0050] (6) After the simulation ends, the moving platform 1 slowly returns to the horizontal center position, ready for the next round of driving tasks;

[0051] (7) As above, the dynamic platform 1 continuously outputs corresponding haptic signals according to the real-time driving operation to achieve a highly immersive dynamic simulation.

[0052] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A parallel robot with two loops, one translation and two rotations, characterized in that, It includes a static platform (0), a moving platform (1), and simple branches I, II, and III for connecting the static platform (0) and the moving platform (1); Simple branch I includes a first moving joint (P) connected in sequence. 11 ), several revolute joints and U-joints, the first prismatic joint (P) 11 ) is located on the static platform (0), and the U-type is connected to the first end of the moving platform (1); Simple branch II includes a second moving joint (P) connected in sequence. 21 ), several revolute joints and U-joints, and the second prismatic joint (P) 21 ) is located on the static platform (0), and the second end of the U-type secondary is connected to the second end of the dynamic platform (1); Simple branch III includes a third moving joint (P) connected in sequence. 31 ), several revolute joints and U-joints, and the third prismatic joint (P) 31 ) is located on the static platform (0), and the third end of the U-type sub-platform (1) is connected to the third end of the dynamic platform (1); With the first moving pair (P) 11 ), second moving pair (P) 21 ), third moving pair (P 31 (1) is the driving pair, and the moving platform (1) translates along the Z-axis and rotates around the X-axis or Y-axis.

2. The parallel robot with one translation and two rotations according to claim 1, characterized in that, With the first moving pair (P) 11 ), second moving pair (P) 21 ), third moving pair (P 31 Simultaneously, as a driving pair, the moving platform (1) translates along the Z-axis, with the first moving pair (P) acting as a driving pair. 11 ), third moving pair (P 31 Simultaneously serving as a driving pair, the moving platform (1) rotates around the X-axis, relying solely on the second prismatic joint (P). 21 (1) is the driving pair, and the moving platform rotates around the Y-axis.

3. A parallel robot with one translation and two rotation loops according to claim 1, characterized in that, Simple branch I consists of the first moving joint (P) 11 ), first revolute joint (R) 12 ), second revolute joint (R) 13 The first and second parts are connected in series, and the third revolute joint (R) is formed by the perpendicular axes of the first part forming a cross-shaped structure. 14 ) and the fourth revolute joint (R 15 The third revolute joint (R) is connected in series. 14 ) and the second revolute joint (R 13 ) connection, fourth revolute joint (R 15 One end of the ) is connected to the first segment of the moving platform (1).

4. A parallel robot with two loops, one translation and two rotations, as described in claim 3, characterized in that, First moving pair (P) 11 ) and the first revolute joint (R 12 ), second revolute joint (R) 13 ), fourth revolute joint (R) 15 The axes of the two axes are parallel to each other.

5. A parallel robot with one translation and two rotation loops according to claim 1, characterized in that, Simple branch II consists of the second moving joint (P) 21 ), fifth revolute joint (R) 22 The sixth revolute joint (R) is formed by connecting it in series with the second U-type joint, and the second U-type joint is a cross-shaped structure formed by the axes of the two parts being perpendicular to each other. 23 ) and the seventh revolute joint (R 24 The sixth revolute joint (R) is connected in series. 23 ) and the fifth revolute joint (R 22 ) connection, seventh revolute joint (R 24 ) is connected to the second end of the moving platform (1).

6. A parallel robot with one translation and two rotation loops according to claim 5, characterized in that, Second moving pair (P) 21 ) and the fifth revolute joint (R 22 ), sixth revolute joint (R) 23 The axes of the two axes are parallel to each other.

7. A parallel robot with two loops, one translation and two rotations, as described in claim 1, characterized in that, Simple branch III consists of a third moving joint (P) 31 ), the eighth revolute joint (R) 32 The U-type joint is formed by connecting the third and fourth types of joints in series. The third type of joint consists of the ninth revolute joint (R) with its axes perpendicular to each other, forming a cross-shaped structure. 33 ) and the tenth revolute joint (R 34 The ninth revolute joint (R) is formed by connecting multiple units of the same type. 33 ) and the eighth revolute joint (R 32 ) connection, tenth revolute joint (R) 34 ) is connected to the third end of the moving platform (1).

8. A parallel robot with one translation and two rotation loops according to claim 7, characterized in that, Third moving pair (P) 31 ) and the eighth revolute joint (R 32 The axes of the three moving joints (P) are perpendicular to each other. 31 ) and the tenth revolute joint (R 34 The axes of the eighth revolute joint (R) are parallel to each other. 32 ) and the ninth revolute joint (R 33 The axes of the two axes are parallel to each other.

9. A parallel robot with two loops, one translation and two rotations, as described in claim 8, characterized in that, Third moving pair (P) 31 ) and the first moving pair (P 11 The axes of the first sliding joint (P) are parallel to each other. 11 ) and the second moving pair (P 21 The axes of the fourth revolute joint (R) are perpendicular to each other. 15 ) and the seventh revolute joint (R 24 The axes of the seventh revolute joint (R) are parallel to each other. 24 ) and the tenth revolute joint (R 34 The axes of the two axes are parallel to each other.

10. An electric actuator, characterized in that, The robot topology is based on the two-loop, one-translation, two-rotation parallel robot described in any one of claims 1-9. The electric actuator drives the seat to translate along the Z-axis or rotate around the X-axis or around the Y-axis. The seat is mounted on the moving platform (1). The electric actuator is used for racing simulators, flight trainers or special vehicle driving trainers.

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