CN103495967B - The submissive joint parallel robot experiment device of a kind of plane five bar - Google Patents
The submissive joint parallel robot experiment device of a kind of plane five bar Download PDFInfo
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- CN103495967B CN103495967B CN201310452325.9A CN201310452325A CN103495967B CN 103495967 B CN103495967 B CN 103495967B CN 201310452325 A CN201310452325 A CN 201310452325A CN 103495967 B CN103495967 B CN 103495967B
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- submissive joint
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Abstract
The present invention relates to the submissive joint parallel robot experiment device of a kind of plane five bar, submissive joint is applied in plane five bar parallel robot by it, replaces conventional motion pair and carries out transmission, further increase the performance of robot.This robot experimental provision is made up of pedestal, driving pair, driving lever, submissive joint, follower lever, rigidity rotation pair, decelerator and servomotor, and this is very effective for the kinematics and dynamic performance furtheing investigate the submissive joint parallel robot of plane five bar.The present invention utilizes submissive joint to replace the secondary motion realizing parallel robot of conventional motion, alleviates the quality of robot system; Decrease the problems such as the next gap of conventional motion subband, friction, wearing and tearing, impact and lubrication; Improve running precision and the reliability of robot system, structure is simple simultaneously, processing ease, cost are low, be conducive to practical application.
Description
Technical field
The invention discloses a kind of plane five lever apparatus with submissive joint, relate to robot experimental technique field, particularly relate to the submissive joint parallel robot experiment device of a kind of plane five bar.
Background technology
Compliant mechanism a kind ofly utilizes component self-deformation to realize motion, power and the transmission of energy and the novel mechanism of conversion.Mechanism is different from conventional rigid, and structurally compliant mechanism decreases even without kinematic pair, and its superiority is mainly reflected in and reduces costs and improve performance two aspect.
Be applied in the design of kinematic pair by compliant mechanism theory, create this novel kinematic pair form in submissive joint, this kinematic pair transmits the motion between adjacent members by the elastic deformation of self.The novel robot using submissive joint to replace conventional motion pair to form, fundamentally can solve the problem such as gap, friction, wearing and tearing, impact and lubrication that conventional motion pair is brought.
Parallel micro-manipulator is along with parallel robot technology, the development of nanometer technique and submissive joint technology and one that is formed emerging research field, this type of robot has compact conformation, kinematic chain is short, the features such as rigidity is high, and bearing capacity is strong, simultaneously because use submissive joint to replace conventional motion secondary, eliminate the secondary adverse effect of conventional motion, improve the overall performance of robot system.
Plane five bar parallel robot is a kind of common Limited-DOF Parallel Robot, and frame for movement is made up of five connecting rods, and wherein a bar is as frame, and two bars be connected with frame are as driving lever, and all the other two bars are follower lever.Because structure is simple, be easy to control, this type of robot obtains application at industrial circle.In traditional design, five connecting rods transmit force and motion by rigid motion pair.Based on above analysis, the present invention proposes the submissive joint parallel robot experiment device of a kind of plane five bar, and submissive joint is applied in plane five bar parallel robot by it, replaces conventional motion pair and carries out transmission, further increase the performance of robot.
Summary of the invention
The object of the present invention is to provide the submissive joint parallel robot experiment device of a kind of plane five bar, this robot experimental provision is made up of pedestal, driving pair, driving lever, submissive joint, follower lever, rigidity rotation pair, decelerator and servomotor, and this is very effective for the kinematics and dynamic performance furtheing investigate the submissive joint parallel robot of plane five bar.
For achieving the above object, the technical solution used in the present invention is the submissive joint parallel robot experiment device of a kind of plane five bar, and its driving lever and follower lever are rigid bar; The secondary movement branched chain identical with two-strip structure of pedestal and rigidity rotation and the identical drive part of two groups of structures are connected; In movement branched chain, driving lever one end is connected with driving is secondary, and the other end is connected with follower lever by submissive joint, and the follower lever of two movement branched chain is connected by rigid motion pair; Wherein driving lever with drive secondary, submissive joint and driving lever and follower lever, for bolt is connected between follower lever with rigidity rotation pair; In drive part, servomotor one end is bolted to be fixed on pedestal, and the other end is connected with decelerator, and the other end of decelerator is connected with driving is secondary.
Compared with prior art, the present invention has the following advantages:
1, utilize submissive joint to replace the secondary motion realizing parallel robot of conventional motion, alleviate the quality of robot system;
2, apparatus of the present invention decrease the problems such as the next gap of conventional motion subband, friction, wearing and tearing, impact and lubrication;
3, improve running precision and the reliability of robot system, structure is simple simultaneously, processing ease, cost are low, be conducive to practical application.
4, the submissive parallel robot of plane five bar that the present invention proposes uses revolute pair to connect two follower levers, avoids the jitter error of moving platform, inhibits the impact of submissive joint nonlinear problem to a certain extent, thus improve the running precision of robot system.
Accompanying drawing explanation
Fig. 1 is plane five bar submissive joint parallel robot frame for movement top view.
Fig. 2 is plane five bar submissive joint parallel robot frame for movement front view.
In figure: 1, pedestal 2, driving pair 3, driving lever 4, submissive joint 5, follower lever 6, rigidity rotation pair 7, decelerator 8, servomotor.
Detailed description of the invention
Below with reference to drawings and Examples, the present invention will be further described.
Be illustrated in figure 1 plane five bar submissive joint parallel robot frame for movement top view, Fig. 2 is plane five bar submissive joint parallel robot frame for movement front view, and this device is made up of pedestal 1, driving pair 2, driving lever 3, submissive joint 4, follower lever 5, rigidity rotation pair 6, decelerator 7, servomotor 8; Wherein secondary 6 movement branched chain identical with two-strip structure of pedestal 1 and rigidity rotation and the identical drive part of two groups of structures are connected; In movement branched chain, driving lever 3 one end is connected with driving secondary 2, and the other end is connected with follower lever 5 by submissive joint 4, and the follower lever 5 of two movement branched chain is connected by rigidity rotation secondary 6; Wherein driving lever 3 and driving secondary 2, submissive joint 4 and driving lever 3 and follower lever 5, for bolt is connected between follower lever 5 with rigidity rotation pair 6; In drive part, servomotor 8 one end is bolted and is fixed on pedestal 1, and the other end is connected with decelerator 7, and the other end of decelerator 7 is connected with driving secondary 2.
During the work of this experimental provision, control moment passes to through decelerator and drives pair by the servomotor in each group of drive part, drive subband to move driving lever, driving lever drives follower lever by submissive joint, and the rigidity rotation pair of follower lever end can complete given task.
The material of driving lever and follower lever is aluminium, and size is 400mm × 23mm × 10mm; The material in submissive joint is spring steel, R=20mm, and thickness is 0.5mm, and structural parameters are not unique, and the submissive joint can changing Different structural parameters is tested.
The submissive joint parallel robot of plane five bar disclosed by the invention, submissive joint is used to replace the secondary motion realizing robot of conventional motion, decrease the problem such as gap, friction, wearing and tearing, impact and lubrication that conventional motion pair is brought, improve operation accuracy and the reliability of robot system, structure is simple simultaneously, processing ease, cost is low, and the performance for the submissive joint parallel robot of plane five bar improves and practical application provides guarantee.
Claims (3)
1. the submissive joint parallel robot experiment device of plane five bar, is characterized in that: this device is made up of pedestal (1), driving secondary (2), driving lever (3), submissive joint (4), follower lever (5), rigidity rotation pair (6), decelerator (7), servomotor (8); The movement branched chain that wherein pedestal (1) is identical with two-strip structure with rigidity rotation pair (6) and the identical drive part of two groups of structures are connected; In movement branched chain, driving lever (3) one end is connected with driving secondary (2), the other end is connected with follower lever (5) by submissive joint (4), and the follower lever (5) of two movement branched chain is connected by rigidity rotation pair (6); Wherein driving lever (3) and driving secondary (2), submissive joint (4) and driving lever (3) and follower lever (5), for bolt is connected between follower lever (5) with rigidity rotation pair (6); In drive part, servomotor (8) one end is bolted and is fixed on pedestal (1), and the other end is connected with decelerator (7), and the other end of decelerator (7) is connected with driving secondary (2).
2. the submissive joint parallel robot experiment device of a kind of plane five bar according to claim 1, it is characterized in that: during experimental provision work, control moment passes to through decelerator and drives pair by the servomotor in each group of drive part, subband is driven to move driving lever, driving lever drives follower lever by submissive joint, and the rigidity rotation pair of follower lever end can complete given task.
3. the submissive joint parallel robot experiment device of a kind of plane five bar according to claim 1 and 2, is characterized in that: the structural parameters in submissive joint are not unique, and the submissive joint can changing Different structural parameters is tested; Material, the size of driving lever and follower lever are all identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310452325.9A CN103495967B (en) | 2013-09-28 | 2013-09-28 | The submissive joint parallel robot experiment device of a kind of plane five bar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310452325.9A CN103495967B (en) | 2013-09-28 | 2013-09-28 | The submissive joint parallel robot experiment device of a kind of plane five bar |
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| CN103495967A CN103495967A (en) | 2014-01-08 |
| CN103495967B true CN103495967B (en) | 2015-12-09 |
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| CN104819838B (en) * | 2015-05-14 | 2016-05-25 | 中北大学 | A kind of combination drive restructural five-rod experimental bench |
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| DE102007010067B3 (en) * | 2007-02-28 | 2008-07-03 | Technische Universität Braunschweig Carolo-Wilhelmina | Accuracy testing or parallel kinematics machine e.g. robot, calibrating method, involves determining error parameters so that difference between singularity positions is minimized or outputting signal when difference exceeds preset value |
| CN202318318U (en) * | 2011-09-30 | 2012-07-11 | 北京工业大学 | Planar 3-degree-of-freedom parallel robot comprising supple joints |
| CN102873683A (en) * | 2012-09-28 | 2013-01-16 | 北京工业大学 | Experimental apparatus with three flexible hinges and planar parallel mechanism |
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| CN103111999A (en) * | 2013-02-23 | 2013-05-22 | 北京工业大学 | Flexible-joint parallel robot device |
| CN103192363A (en) * | 2013-03-27 | 2013-07-10 | 北京工业大学 | Device and method for controlling planar three-freedom-degree flexible hinge parallel robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100507554B1 (en) * | 2003-05-21 | 2005-08-17 | 한국과학기술연구원 | Parallel haptic joystick system |
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Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5642469A (en) * | 1994-11-03 | 1997-06-24 | University Of Washington | Direct-drive manipulator for pen-based force display |
| US6675671B1 (en) * | 2002-05-22 | 2004-01-13 | Sandia Corporation | Planar-constructed spatial micro-stage |
| CN2745181Y (en) * | 2004-10-14 | 2005-12-07 | 华南理工大学 | Redundancy three-freedom flat compliance precision positioning platform |
| DE102007010067B3 (en) * | 2007-02-28 | 2008-07-03 | Technische Universität Braunschweig Carolo-Wilhelmina | Accuracy testing or parallel kinematics machine e.g. robot, calibrating method, involves determining error parameters so that difference between singularity positions is minimized or outputting signal when difference exceeds preset value |
| CN101149979A (en) * | 2007-10-26 | 2008-03-26 | 华南理工大学 | Precision rotation positioning platform based on compliant mechanism |
| CN202318318U (en) * | 2011-09-30 | 2012-07-11 | 北京工业大学 | Planar 3-degree-of-freedom parallel robot comprising supple joints |
| CN102873683A (en) * | 2012-09-28 | 2013-01-16 | 北京工业大学 | Experimental apparatus with three flexible hinges and planar parallel mechanism |
| CN103030103A (en) * | 2012-12-10 | 2013-04-10 | 山东理工大学 | 3-PRR micro-displacement platform based on symmetrical variable cross-section compliant mechanism |
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| CN103192363A (en) * | 2013-03-27 | 2013-07-10 | 北京工业大学 | Device and method for controlling planar three-freedom-degree flexible hinge parallel robot |
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| CN103495967A (en) | 2014-01-08 |
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