CN103639712B - A kind of three rotation spherical parallel institutions - Google Patents
A kind of three rotation spherical parallel institutions Download PDFInfo
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- CN103639712B CN103639712B CN201310604507.3A CN201310604507A CN103639712B CN 103639712 B CN103639712 B CN 103639712B CN 201310604507 A CN201310604507 A CN 201310604507A CN 103639712 B CN103639712 B CN 103639712B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
本发明涉及一种三转动球形并联机构。目的是提供的三转球形并联机构具有刚度高、运动响应快、转动惯量小、结构简单、便于安装的特点。技术方案是：一种三转动球形并联机构，包括圆形机架、圆形动平台以及连接机架和动平台的三个分支，其特征在于：所述三个分支均依次包括转动副、弧形连杆、移动副、导杆以及球铰。
The invention relates to a three-rotation spherical parallel mechanism. The purpose is to provide a three-turn spherical parallel mechanism with the characteristics of high rigidity, fast motion response, small moment of inertia, simple structure and easy installation. The technical solution is: a three-rotation spherical parallel mechanism, including a circular frame, a circular moving platform, and three branches connecting the frame and the moving platform. Connecting rods, moving pairs, guide rods and spherical joints.
Description
技术领域technical field
本发明涉及一种机床和工业机器人的执行机构，尤其是球形工作环境下，具有三转动并联结构的数控机床执行机构或具有三转动并联结构的机器人执行机构。The invention relates to an actuator of a machine tool and an industrial robot, especially a CNC machine tool actuator with a three-rotation parallel structure or a robot actuator with a three-rotation parallel structure in a spherical working environment.
背景技术Background technique
并联机构是由多个并行支链构成的闭环运动系统，即由多个并行支链的一端同时与一个末端执行器（动平台）相连构成。从Steward机构在轮胎测试及飞行模拟器上的成功应用开始，并联机构一直成为诸多学者研究的对象。并联机构（PM）相比与传统的串联机构，具有更大的刚度、负载和更高的精度。从一定意义上来说，并联机构同时具备了数控机床（高刚度、高精度、高速度）和工业机器人（低成本、灵活、易于集成）的优点。The parallel mechanism is a closed-loop motion system composed of multiple parallel branch chains, that is, one end of multiple parallel branch chains is connected to an end effector (moving platform) at the same time. Since the successful application of Steward mechanism in tire testing and flight simulators, parallel mechanism has been the research object of many scholars. Compared with the traditional serial mechanism, the parallel mechanism (PM) has greater stiffness, load and higher precision. In a certain sense, the parallel mechanism has the advantages of CNC machine tools (high rigidity, high precision, high speed) and industrial robots (low cost, flexibility, and easy integration).
少自由度并联机构，作为并联机构的一大类，由于适应性强，被用于许多特殊的工作环境中；其中的三转动并联机构由于其特殊的运动性能而被广泛运用于机器人的腰、肩、腕等关节，同时在卫星天线、摄像定位、医疗器械等方面也有诸多运用。Parallel mechanisms with few degrees of freedom, as a large category of parallel mechanisms, are used in many special working environments due to their strong adaptability; among them, the three-rotation parallel mechanisms are widely used in the waist, Joints such as shoulders and wrists, and also have many applications in satellite antennas, camera positioning, and medical equipment.
CN102259269A提出了一种三转动球面并联机构，具有结构简单、工作空间大、便于制造的优点；CN101590650A提出了一种解耦的三转动自由度并联机构，具有机构简单、转动惯量小、运动响应快的优点。CN101244558A提出了一种空间三转动自由度并联机构，易于实现高速运动，具有良好的动态特性。上述机构均有各自的特点，但是对于要实现在球形工作环境下的应用，部分机构由于过多的运动副而使刚度下降，另一部分机构则外形无法保证；所以寻求一个既具有高刚度、动态响应快，又满足工作环境要求的三转动球形并联机构是本发明设计的重点。CN102259269A proposes a three-rotation spherical parallel mechanism, which has the advantages of simple structure, large working space, and easy manufacture; CN101590650A proposes a decoupled three-rotation parallel mechanism, which has the advantages of simple mechanism, small moment of inertia, and fast motion response The advantages. CN101244558A proposes a parallel mechanism with three rotational degrees of freedom in space, which is easy to realize high-speed movement and has good dynamic characteristics. The above-mentioned mechanisms have their own characteristics, but for the application in a spherical working environment, the stiffness of some mechanisms is reduced due to too many kinematic pairs, and the shape of other mechanisms cannot be guaranteed; The three-rotation spherical parallel mechanism that responds quickly and meets the requirements of the working environment is the key point of the design of the present invention.
发明内容Contents of the invention
本发明所要解决的技术问题是克服上述背景技术的不足，提出一种在球形工作环境下，具有刚度高、运动响应快、转动惯量小、结构简单、便于安装特点的三转球形并联机构。The technical problem to be solved by the present invention is to overcome the shortcomings of the above-mentioned background technology, and propose a three-rotation spherical parallel mechanism with the characteristics of high rigidity, fast motion response, small moment of inertia, simple structure and easy installation in a spherical working environment.
本发明采用的技术方案是：The technical scheme adopted in the present invention is:
一种三转动球形并联机构，包括圆形机架、圆形动平台以及连接机架和动平台的三个分支，其特征在于：所述三个分支均依次包括转动副、弧形连杆、移动副、导杆以及球铰。A three-rotating spherical parallel mechanism, including a circular frame, a circular moving platform, and three branches connecting the frame and the moving platform, characterized in that: the three branches all sequentially include a rotating pair, an arc-shaped connecting rod, Travel joints, guide rods and spherical joints.
所述三个分支的转动副均匀分布于圆形机架上且三个转动副轴线共面，各转动副轴线还经过圆形机架的圆心且与移动副轴线形成45°角；所述移动副的轴线经过球铰的球心且指向圆形机架的圆心。The rotary pairs of the three branches are evenly distributed on the circular frame and the axes of the three rotary pairs are coplanar, and each rotary pair axis also passes through the center of the circular frame and forms an angle of 45° with the moving secondary axis; the moving The axis of the auxiliary passes through the center of the ball joint and points to the center of the circular frame.
所述机构的驱动副为各分支上的转动副，驱动方式由伺服电机通过谐波减速器驱动。The driving pair of the mechanism is the rotating pair on each branch, and the driving mode is driven by a servo motor through a harmonic reducer.
所述弧形连杆的半径与圆形机架的半径相等。The radius of the arc connecting rod is equal to the radius of the circular frame.
本发明的有益效果是：The beneficial effects of the present invention are:
本发明采用弧形连杆均布方式且机构呈半球形，能够在球形工作环境下运行；机架到动平台之间的运动副少，使机构具有良好的刚度；且具有运动响应快、转动惯量小、结构简单、便于安装等优点。The invention adopts arc-shaped connecting rods evenly distributed and the mechanism is hemispherical, which can operate in a spherical working environment; there are few motion pairs between the frame and the moving platform, so that the mechanism has good rigidity; and it has fast motion response, rotation Small inertia, simple structure, easy installation and so on.
附图说明Description of drawings
图1是本发明的立体结构示意图。Fig. 1 is a schematic diagram of the three-dimensional structure of the present invention.
具体实施方式detailed description
以下结合附图所示的实施例进一步说明。Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.
如图1所示，一种三转动球形并联机构，包括机架1、动平台4以及连接机架1和动平台4的三个分支。As shown in FIG. 1 , a three-rotation spherical parallel mechanism includes a frame 1 , a moving platform 4 and three branches connecting the frame 1 and the moving platform 4 .
所述三个分支，每个分支均依次由转动副1R、弧形连杆12、移动副1P、导杆13、球铰1S、圆形动平台4组成（所述三个分支结构相同）。Each of the three branches is sequentially composed of a rotating pair 1R, an arc-shaped connecting rod 12, a moving pair 1P, a guide rod 13, a spherical hinge 1S, and a circular moving platform 4 (the three branches have the same structure).
每个分支中的弧形连杆12的半径与圆形机架1的半径相等，转动副1R轴线与移动副1P轴线成45°角，移动副1P轴线过球铰1S球心且指向圆形支架的圆心O（两两球铰的球心之间的弧长或距离均相同）。The radius of the arc-shaped connecting rod 12 in each branch is equal to the radius of the circular frame 1, the axis of the rotating pair 1R and the axis of the moving pair 1P form an angle of 45°, and the axis of the moving pair 1P passes through the spherical center of the spherical joint 1S and points to the circle The center O of the bracket (the arc lengths or distances between the centers of the two ball joints are the same).
所述三个分支均匀分布在圆形机架上，每个分支中的转动副轴线始终过机架圆心O（两两相邻的转动副轴线构成120度夹角）。所述机构驱动副为各分支上的转动副，驱动方式由伺服电机通过谐波减速器驱动，当驱动副转动时，机构作三自由度转动。The three branches are evenly distributed on the circular frame, and the rotary axis of each branch always passes through the frame center O (two adjacent rotary axes form an included angle of 120 degrees). The driving pair of the mechanism is a rotating pair on each branch, and the driving method is driven by a servo motor through a harmonic reducer. When the driving pair rotates, the mechanism rotates in three degrees of freedom.
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104029197B (en) * | 2014-06-26 | 2016-01-20 | 山东大学（威海） | A kind of vector propulsion mechanism of underwater robot |
| CN104308834A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Symmetric three-rotation parallel mechanism |
| CN104985589B (en) * | 2015-07-02 | 2017-01-25 | 上海交通大学 | Fully decoupled parallel mechanism with five-degree-of-freedom rotational movement with arc-shaped movement pairs |
| CN107030682B (en) * | 2016-01-15 | 2020-07-14 | 崔文德 | Twelve-axis spherical coordinate motion mechanism |
| CN105538296B (en) * | 2016-02-03 | 2017-04-05 | 中北大学 | A kind of restructural spherical parallel manipulator |
| CN106346450B (en) | 2016-10-17 | 2018-11-09 | 中国科学院深圳先进技术研究院 | Three branch 3-freedom parallel mechanisms |
| CN106671067B (en) * | 2017-03-13 | 2018-09-18 | 河北工业大学 | A kind of three-branch chain six-freedom degree parallel mechanism with arc prismatic pair |
| US10864626B2 (en) | 2017-03-29 | 2020-12-15 | Shenzhen Institutes Of Advanced Technology Chinese Academy Of Sciences | Parallel mechanism with six degrees of freedom having arc-shaped prismatic pairs in three branches |
| WO2018195762A1 (en) * | 2017-04-25 | 2018-11-01 | 中国科学院深圳先进技术研究院 | Three-degrees-of-freedom parallel mechanism having an arc-shaped movement pair |
| CN107877492B (en) * | 2017-11-09 | 2020-07-07 | 中国地质大学（武汉） | A parallel manipulator for minimally invasive surgery |
| CN108748089B (en) * | 2018-04-13 | 2021-08-10 | 上海大学 | Symmetrical three-rotational-freedom parallel mechanism |
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