Hybrid spherical mechanism

Abstract

This utility model pertains to mechanical engineering, specifically robotics, specifically to spatial manipulation mechanisms of robots. A hybrid spherical mechanism with four degrees of freedom comprises a base, an output link, and three kinematic chains. Each kinematic chain comprises a rotary motor located on the base, and an initial rotary kinematic pair located perpendicular to the axis of the rotary motor and intersecting its axis. The two kinematic chains also contain two intermediate rotary kinematic pairs located parallel to the axis of the initial rotary kinematic pair, a rotary kinematic pair located perpendicular to the axis of the second intermediate rotary kinematic pair and intersecting its axis, and mated with the output link.The third kinematic chain contains a rotational kinematic pair located perpendicular to the initial rotational kinematic pair, where the axes of all rotational motors and intermediate rotational kinematic pairs of all chains are located with an intersection at the center of the Cartesian coordinate system. In the first kinematic chain, the axis of the rotational motor is located along the x-axis, the axis of the initial rotational pair is located parallel to the y-axis, and the axis of the rotational kinematic pair is located along the z-axis. For the second kinematic chain, the axis of the rotational motor is located along the y-axis. The axis of the initial rotational kinematic pair is located parallel to the x-axis. The axis of the rotational kinematic pair is located along the z-axis. In the third kinematic chain, the axis of the rotational motor is located along the z-axis. The axis of the initial rotational kinematic pair is located along the x-axis, and the axis of the rotational kinematic pair is located along the y-axis.The axis of the final translational kinematic pair and the axis of the output link are located along the z-axis. This provides for an expansion of functional and operational capabilities. 1 fig.

Description

[0001] The utility model relates to mechanical engineering, in particular to robotics, namely to spatial manipulation mechanisms of robots with four degrees of freedom - three orienting rotational movements and one translational movement.

[0002] A device is known, a spatial spherical mechanism with three degrees of freedom (Patent RU No. 2465124), containing a base, an output link, three kinematic chains, each including a rotary motor located on the base, an initial rotary kinematic pair located perpendicular to the axis of the motor with an intersection of its axis, in two kinematic chains, in addition, there are two intermediate rotary pairs located parallel to the axis of the initial pair, a final rotary pair located perpendicular to the axis of the second intermediate pair with an intersection of its axis and conjugated with the output link, in the third kinematic chain there is a final rotary pair located perpendicular to the axis of the initial kinematic pair, wherein the axes of all motors and final kinematic pairs of all chains are located with an intersection in the center of the Cartesian coordinate system with the axes x, y, z.

[0003] The disadvantage of this device is that the drive axes are located at an angle to the axes of the Cartesian coordinate system and create only orienting movements, which complicates solving problems about the positions and control of the manipulator.

[0004] The technical result is the elimination of the noted shortcomings and an increase in the technical and operational efficiency of devices for manipulation in space along three rotational coordinates and one linear coordinate while simplifying the solution of the position problem.

[0005] The technical result is achieved in that a hybrid spherical mechanism with four degrees of freedom comprising a base, an output link, three kinematic chains, each including a rotary motor, located on the base, an initial rotational kinematic pair located perpendicular to the axis of the motor with an intersection of its axis, in two kinematic chains, in addition, there are two intermediate rotational kinematic pairs located parallel to the axis of the initial rotational kinematic pair, and one intermediate rotational kinematic pair located perpendicular to the axis of the second intermediate rotational kinematic pair with an intersection of its axis and conjugated with the output link. The third kinematic chain contains an intermediate rotational kinematic pair located perpendicular to the initial rotational kinematic pair,wherein the axes of all motors and intermediate rotational kinematic pairs of all chains are located with an intersection at the center of the Cartesian coordinate system, in the first kinematic chain the axis of the rotational motor is located along the x-axis, the axis of the initial rotational kinematic pair is located parallel to the y-axis, the axis of the intermediate rotational kinematic pair is located along the z-axis, for the second kinematic chain the axis of the rotational motor is located along the y-axis, the axis of the initial rotational kinematic pair is located parallel to the x-axis, the axis of the intermediate rotational kinematic pair is located along the z-axis, in the third kinematic chain the axis of the rotational motor is located along the z-axis, the axis of the initial rotational kinematic pair is located along the x-axis, the axis of the intermediate rotational kinematic pair is located along the y-axis, characterized in that a final translational kinematic pair is installed on the output link,allowing additional linear movement along the z-axis.

[0006] Fig. 1 shows a hybrid spherical mechanism.

[0007] The hybrid spherical mechanism with four degrees of freedom contains a base 1, an output link 2, three kinematic chains, each including a rotary motor 3 (3', 3''), located on the base 1, an initial rotational kinematic pair 4 (4', 4''), located perpendicular to the axis of the rotary motor 3 (3', 3'') with the intersection of its axis, in two kinematic chains, in addition, there are two intermediate rotational kinematic pairs 5 (5') and 6 (6'), located parallel to the axis of the initial rotational kinematic pair 4 (4'), an intermediate rotational kinematic pair 7 (U), located perpendicular to the axis of the second intermediate rotational kinematic pair 6 (6') with the intersection of its axis and conjugated with the output link 2. The third kinematic chain contains an intermediate rotary kinematic pair 7'', located perpendicular to the initial rotary kinematic pair 4'', and the axes of all rotary motors 3 (3',3'') and intermediate rotational kinematic pairs 6 (6') and 7 (7') of all chains are located with an intersection in the center of the Cartesian coordinate system, in the first kinematic chain the axis of the rotational motor 3 is located along the x-axis, the axis of the initial rotational pair 4 is located parallel to the y-axis, the axis of the intermediate rotational kinematic pair 7 is located along the y-axis, for the second kinematic chain the axis of the rotational motor 3' is located along the y-axis, the axis of the initial rotational kinematic pair 4' is located parallel to the x-axis, the axis of the intermediate rotational kinematic pair T is located along the z-axis, in the third kinematic chain the axis of the rotational motor 3'' is located along the z-axis, the axis of the initial rotational kinematic pair 4'' is located along the x-axis, the axis of the intermediate rotational kinematic pair 7'' is located along the y-axis, the axis of the final translational kinematic pair 8 and the axis output link 2 is located along the z-axis.,

[0008] The hybrid spherical mechanism operates as follows. Relative to base 1, output link 2 rotates along three coordinate axes and performs linear movement via three connecting kinematic chains. Two rotary motors 3 (3'), mounted on base 1, transmit rotation to initial rotary kinematic pairs 4 (4'), located perpendicular to the axis of rotary motor 3 (3') with intersection of its axis, then rotation is transmitted to two intermediate rotary kinematic pairs 5 (5') and 6 (6'), located parallel to the axis of initial rotary kinematic pair 4 (4'), and then rotation is transmitted to intermediate rotary kinematic pairs 7 (7'), located perpendicular to the axis of second rotary intermediate kinematic pair 6 (6') with intersection of its axis and to final translational kinematic pair 8, which move output link 2 along two angular and one linear coordinates.The rotary motor 3'', mounted on the base 1, transmits rotation to the initial rotary kinematic pair 4'', located along the axis of the rotary motor 3'', then the movement is transmitted to the intermediate rotary kinematic pair 7'', located along the axis of the rotary motor 3'', moves the output link 2 along one angular coordinate.

[0009] Since the axes of the rotary motors 3 (3', 3'') and the intermediate rotary kinematic pair 7 (7', 7'') are located with an intersection at the center of the Cartesian coordinate system, the axis of the initial rotary kinematic pair 4'' intersects the center O of the Cartesian coordinate system, and the axes of the initial rotary kinematic pairs 4 (4'), intermediate rotary kinematic pairs 5 (5') and 6 (6') are parallel to each other and perpendicular to the axes of the rotary motors 3 (3') and the intermediate rotary kinematic pair 7 (7'), then these initial rotary kinematic pairs 4 (4'), intermediate rotary kinematic pairs 5 (5') and 6 (6') provide rotation around an axis also intersecting the center of the Cartesian coordinate system, thus providing the possibility of forming a spherical structure and transmitting rotation around three axes to the output link 2 from the side of rotating motors 3 (3', 3''),and the final translational kinematic pair 8 allows for additional creation of linear movement of the output link 2, increasing the spherical working area.

[0010] The device is designed for manipulation of workpieces and products, in various measuring systems, in test benches, in the processing of parts and workpieces using various tools, in assembly operations, in surgery, etc.

Claims

A hybrid spherical mechanism with four degrees of freedom, comprising a base, an output link, three kinematic chains, each including a rotary motor, located on the base, an initial rotary kinematic pair located perpendicular to the axis of the motor with an intersection of its axis, in two kinematic chains, in addition, there are two intermediate rotary kinematic pairs located parallel to the axis of the initial rotary kinematic pair, and one intermediate rotary kinematic pair located perpendicular to the axis of the second intermediate rotary kinematic pair with an intersection of its axis and conjugated with the output link, in the third kinematic chain there is an intermediate rotary kinematic pair located perpendicular to the initial rotary kinematic pair, wherein the axes of all motors and intermediate rotary kinematic pairs of all chains are located with an intersection at the center of the Cartesian coordinate system,in the first kinematic chain, the axis of the rotary motor is located along the x-axis, the axis of the initial rotary kinematic pair is located parallel to the y-axis, the axis of the intermediate rotary kinematic pair is located along the z-axis, for the second kinematic chain, the axis of the rotary motor is located along the y-axis, the axis of the initial rotary kinematic pair is located parallel to the x-axis, the axis of the intermediate rotary kinematic pair is located along the z-axis, in the third kinematic chain, the axis of the rotary motor is located along the z-axis, the axis of the initial rotary kinematic pair is located along the x-axis, the axis of the intermediate rotary kinematic pair is located along the y-axis, characterized in that a final translational kinematic pair is installed on the output link, which allows for additional linear movement along the z-axis.

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