CN103507065A - Flexible joint parallel robot experiment device utilizing plane two-degree-of-freedom redundant drive - Google Patents

Flexible joint parallel robot experiment device utilizing plane two-degree-of-freedom redundant drive Download PDF

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Publication number
CN103507065A
CN103507065A CN201310453104.3A CN201310453104A CN103507065A CN 103507065 A CN103507065 A CN 103507065A CN 201310453104 A CN201310453104 A CN 201310453104A CN 103507065 A CN103507065 A CN 103507065A
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China
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drive
driving
lever
submissive joint
parallel robot
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CN201310453104.3A
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Chinese (zh)
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�田�浩
余跃庆
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Beijing University of Technology
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Beijing University of Technology
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Abstract

The invention relates to a flexible joint parallel robot experiment device utilizing plane two-degree-of-freedom redundant drive. The experiment device is composed of a base, drive pairs, a driving rod, flexible joints, driven rods, rigid revolute pairs, reducers and servo motors. The experiment device is very helpful to deeply research kinematic and mechanical properties of a flexible joint parallel robot utilizing plane two-degree-of-freedom redundant drive. The experiment device utilizes the flexible joints to replace conventional kinematic pairs to achieve movement of the parallel robot, influence on system performance of the robot caused by defects of the conventional kinematic pairs is reduced, and the theoretical basis of control strategy of the robot is steadied. By researching and exploring the flexible joint parallel robot, a novel research direction can be formed, and an improvement to the system performance of the robot is facilitated. The experiment device is simple in structure, easy to operate, low in cost and beneficial to actual application.

Description

The submissive joint of a kind of plane two-freedom redundant drive parallel robot experimental provision
Technical field
The invention discloses a kind of redundantly driven parallel device people experimental provision with submissive joint, relate to parallel robot experiment field, related in particular to the submissive joint of a kind of plane two-freedom redundant drive parallel robot experimental provision.
Background technology
Parallel robot is a kind of robot with closed linkage, has the advantages such as movement inertia is low, load-carrying ability is strong, rigidity is large in theory of mechanisms, has made up the deficiency of traditional industry robot, at industrial circle, is widely used.Compliant mechanism is a kind of novel mechanism that utilizes member self-deformation to realize transmission and the conversion of motion, power and energy.Submissive joint is that application compliant mechanism a kind of Novel sports theoretical and that produce is secondary, and this kinematic pair transmits the motion between adjacent members by the strain in joint self.Submissive articulated robot is a kind of novel robot that uses submissive joint to replace conventional motion pair and form, owing to not containing conventional motion pair, can fundamentally solve gap that conventional motion pair brings, friction, wearing and tearing, impact and the problem such as lubricated, improve the overall performance of robot system.The correlative study achievement of application parallel robot technology, nanometer technique and submissive joint technology, the parallel micro-manipulator forming by compliant mechanism is combined with parallel robot is an emerging research field, its achievement in research has obtained application in fields such as cell and genetic manipulation, accurate operation, microelectronics assembling, microfabrication, fiber alignments, has caused domestic and international scientists and engineers's extensive concern.
Plane five bar parallel robots are a kind of two-freedom parallel robots, and frame for movement is comprised of five connecting rods, and wherein a bar is as frame, and two bars that are connected with frame are as driving lever, and all the other two bars are follower lever.This type of robot because simple in structure, be easy to control, at industrial circle, be widely applied.In order to overcome plane five bar parallel robots in the limitation of the aspects such as working space, moment transmission and rigidity, can in robot system, increase Yi Ge series branch and increase by a set drive simultaneously, form plane two-freedom redundantly driven parallel device people.This type of robot can reduce the singularity in working space, improves moment and transmits performance, improves bearing capacity and rigidity simultaneously, can effectively complete location and the track following of Plane-point.In traditional design, two-freedom redundantly driven parallel device people transmits force and motion by rigid motion pair, if submissive joint is applied in this type of parallel robot, replaces rigid motion pair and carries out transmission, will further improve the performance of robot so.Based on above analysis, the present invention proposes the submissive joint of a kind of plane two-freedom redundant drive parallel robot experimental provision, and this device is highly profitable for kinematics and the dynamic performance research of carrying out the submissive joint of plane two-freedom redundant drive parallel robot.
Summary of the invention
The object of the invention is to propose the submissive joint of a kind of plane two-freedom redundant drive parallel robot experimental provision, this device is comprised of pedestal, driving pair, driving lever, submissive joint, follower lever, rigidity rotation pair, decelerator, servomotor, and this experimental provision is very helpful for kinematics and the dynamic performance research of carrying out the submissive joint of plane two-freedom redundant drive parallel robot in a deep going way.
For achieving the above object, the technical solution used in the present invention is the submissive joint of a kind of plane two-freedom redundant drive parallel robot experimental provision, wherein, the frame for movement of experimental provision is comprised of pedestal, secondary movement branched chain and three groups of identical drive parts of structure identical with three structures that are connected with the two of rigidity rotation; Movement branched chain comprises driving lever, submissive joint and follower lever; Drive part comprises driving pair, decelerator and servomotor; In movement branched chain, driving lever one end is connected with driving pair, and the other end is connected with follower lever by submissive joint, and the follower lever of three movement branched chain connects by rigidity rotation is secondary; Wherein driving lever with drive secondary, submissive joint and driving lever and follower lever, between follower lever and rigidity rotation pair for bolt is connected; In drive part, servomotor one end is bolted and is fixed on pedestal, and the other end is connected with decelerator, and the other end of decelerator is connected with driving pair.During experimental provision work, each servomotor of organizing in drive part passes to control moment to drive pair through decelerator, drive the moving driving lever of subband, driving lever drives follower lever by submissive joint, and the rigidity rotation pair of follower lever end can complete given task.
Compared with prior art, the present invention has the following advantages:
1, utilize submissive joint to replace the motion that conventional motion pair realizes parallel robot, the shortcoming that has reduced conventional motion pair is on the impact of robot system performance and tamped the theoretical foundation of robot control strategy.
2, by this type of being there is to research and the exploration of the parallel robot in submissive joint, can form a new research direction, be conducive to the raising of this type of robot system performance.
3, simple in structure, the processing ease of experimental provision of the present invention, cost are low, are conducive to practical application.
Accompanying drawing explanation
Fig. 1 is the submissive joint of plane two-freedom redundant drive parallel robot machinery structure top view.
Fig. 2 is the submissive joint of plane two-freedom redundant drive parallel robot machinery structural 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.
The specific embodiment
Below with reference to the drawings and specific embodiments, the present invention will be further described.
Be illustrated in figure 1 the submissive joint of plane two-freedom redundant drive parallel robot machinery structure top view, Fig. 2 is the submissive joint of plane two-freedom redundant drive parallel robot machinery structural front view, and this device is comprised of pedestal 1, driving pair 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 and rigidity rotation secondary 6 is identical with three structures and three groups of identical drive parts of structure are connected; Movement branched chain is comprised of driving lever 3, submissive joint 4 and follower lever 5; Drive part is by driving pair 2, decelerator 7 and servomotor 8 to form; In movement branched chain, driving lever 3 one end are connected with driving pair 2, and the other end is connected with follower lever 5 by submissive joint 4, and the follower lever 5 of three movement branched chain connects by rigidity rotation secondary 6; Wherein driving lever 3 with drive secondary 2, submissive joint 4 and driving lever 3 and follower lever 5, between follower lever 5 and rigidity rotation pair 6 for bolt is connected; In drive part, servomotor 8 one end are bolted and are fixed on pedestal 1, and the other end is connected with decelerator 7, and the other end of decelerator 7 is connected with driving pair 2; Servomotor 8, decelerator 7 and driving pair 2, for experimental provision provides force and motion; Pedestal 1 is equilateral triangle, and three groups of drive parts are evenly distributed in the circumferential of pedestal 1; During experimental provision work, each servomotor of organizing in drive part passes to control moment to drive pair through decelerator, drive the moving driving lever of subband, driving lever drives follower lever by submissive joint, and the rigidity rotation pair of follower lever end can complete given task.
Article three, the material of the driving lever in movement branched chain and follower lever is aluminium, and dimensional structure is: 400mm * 23mm * 10mm; The material in submissive joint is spring steel, radius R=20mm, and thickness h=0.5mm, material and structural parameters are not unique, can change the submissive joint of different materials, different radii and different-thickness and test.
The submissive joint of plane two-freedom redundant drive disclosed by the invention parallel robot experimental provision, uses submissive joint to replace the motion that conventional motion pair realizes robot, has improved the impact of conventional motion pair on systematic function.For this type of, there is exploration and the research of the parallel robot in submissive joint, can form a new research field, raising for robot system performance has positive effect, and experimental provision of the present invention is simple in structure, easy and simple to handle simultaneously, cost is low, be easy to practical application.

Claims (3)

1. the submissive joint of a plane two-freedom redundant drive parallel robot experimental provision, is characterized in that: this device is comprised of pedestal (1), driving secondary (2), driving lever (3), submissive joint (4), follower lever (5), rigidity rotation secondary (6), decelerator (7), servomotor (8); The movement branched chain that wherein pedestal (1) and rigidity rotation secondary (6) are identical with three structures and three groups of identical drive parts of structure are connected; Movement branched chain is comprised of driving lever (3), submissive joint (4) and follower lever (5); Drive part is by driving pair (2), decelerator (7) and servomotor (8) to form; 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 of three movement branched chain (5) connects by rigidity rotation secondary (6); Wherein driving lever (3) with drive secondary (2), submissive joint (4) and driving lever (3) and follower lever (5), between follower lever (5) and rigidity rotation pair (6) for bolt is connected; In drive part, servomotor (8) one end is bolted and is fixed on pedestal (1) above, and the other end is connected with decelerator (7), and the other end of decelerator (7) is connected with driving secondary (2); Servomotor (8), decelerator (7) and driving secondary (2), for experimental provision provides force and motion; Pedestal (1) is equilateral triangle, and three groups of drive parts are evenly distributed in the circumferential of pedestal (1).
2. the submissive joint of a kind of plane two-freedom redundant drive according to claim 1 parallel robot experimental provision, it is characterized in that: during experimental provision work, each servomotor of organizing in drive part passes to control moment to drive pair through decelerator, drive the moving driving lever of subband, 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 of a kind of plane two-freedom redundant drive according to claim 1 parallel robot experimental provision, it is characterized in that: the material in submissive joint and structural parameters are not unique, can change the submissive joint of different materials and Different structural parameters and test; The material of driving lever and follower lever and structural parameters are all identical.
CN201310453104.3A 2013-09-28 2013-09-28 Flexible joint parallel robot experiment device utilizing plane two-degree-of-freedom redundant drive Pending CN103507065A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112363427A (en) * 2020-10-28 2021-02-12 浙江树人学院(浙江树人大学) Servo motor drive control system for industrial robot
CN114619432A (en) * 2022-03-17 2022-06-14 上海智能制造功能平台有限公司 PR-3RRR double-platform equipment for intelligent assembly

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112363427A (en) * 2020-10-28 2021-02-12 浙江树人学院(浙江树人大学) Servo motor drive control system for industrial robot
CN114619432A (en) * 2022-03-17 2022-06-14 上海智能制造功能平台有限公司 PR-3RRR double-platform equipment for intelligent assembly

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Application publication date: 20140115