CN103552065A - Planar two-degree-of-freedom actuation redundancy parallel robot mechanism comprising three PRR branches - Google Patents

Planar two-degree-of-freedom actuation redundancy parallel robot mechanism comprising three PRR branches Download PDF

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Publication number
CN103552065A
CN103552065A CN201310586980.3A CN201310586980A CN103552065A CN 103552065 A CN103552065 A CN 103552065A CN 201310586980 A CN201310586980 A CN 201310586980A CN 103552065 A CN103552065 A CN 103552065A
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China
Prior art keywords
parallel robot
fixed platform
side chains
prr
robot mechanism
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Pending
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CN201310586980.3A
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Chinese (zh)
Inventor
王冰
刘健
刘景旺
聂旭萌
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North China Institute of Aerospace Engineering
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North China Institute of Aerospace Engineering
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Priority to CN201310586980.3A priority Critical patent/CN103552065A/en
Publication of CN103552065A publication Critical patent/CN103552065A/en
Pending legal-status Critical Current

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Abstract

The invention relates to a planar two-degree-of-freedom actuation redundancy parallel robot mechanism comprising three PRR branches. The parallel robot mechanism is characterized in that a fixed platform of the mechanism is connected with a tail-end hinge through three identical branches, and each branch comprises two connecting rods, a prismatic pair (P pair) and two revolute pairs (R pairs). First connecting rods are connected with the fixed platform through the prismatic pairs and connected with second connecting rods through the revolute pairs, and the second connecting rods of the three branches are hinged to one another at the tail end of the mechanism through the tail-end hinge. The fixed platform is an equilateral triangle, and the prismatic pairs connected with the fixed platform are arranged on angular bisectors of three angles of the equilateral triangle respectively. When the three prismatic pairs are selected as the input of the mechanism, a motion platform has two degrees of freedom. The planar two-degree-of-freedom actuation redundancy parallel robot mechanism has the advantages that the structure and actuation distribution is symmetrical, the working space is free of singularities inside, the rigidity and the bearing capacity are high, and the like.

Description

A kind of plane two degrees of freedom consisting of three PRR side chains drives redundant parallel robot mechanism
Technical field:
The invention belongs to industrial robot and mechanical manufacturing field, particularly a kind of a kind of plane two degrees of freedom consisting of three PRR side chains drives redundant parallel robot mechanism.
Background technology:
Parallel robot mechanism is compared with serial machine robot mechanism, has the advantages such as high bearing capacity, high rigidity and inverse kinematic be easy, and it has obtained important application in fields such as industrial robot and parallel machines.
But due to the restriction of structure, parallel robot mechanism exists some significantly not enough, as little in working space and working space inside exists more unusual etc.Due to the unusual existence in inside, singular curve is different subintervals by theoretical work spatial division, and the actual working space that can use is just a certain subspace wherein, and this makes the little working space of script become less.For general its motion platform of plane two degrees of freedom parallel robot, by two side chains, be connected with fixed platform, its bearing capacity and rigidity are also limited, and all these can bring certain restriction to the application of plane two degrees of freedom parallel robot mechanism.
Summary of the invention:
The present invention is directed to not enough a kind of plane two degrees of freedom driving redundant parallel robot mechanism being formed by three PRR side chains that proposes of the prior art, this mechanism not only can overcome the unusual of working space inside, effective working space is increased, and there is the advantages such as the bearing capacity of enlarging mechanism and rigidity.
The present invention solves the scheme that its technical problem adopts: a kind of plane two degrees of freedom consisting of three PRR side chains drives redundant parallel robot mechanism.Its structure is that end hinge is connected with fixed platform by three side chains, and each side chain is all containing a moving sets (P is secondary), two revolute pairs (R is secondary) and two connecting rods.For each side chain, first connecting rod is connected by moving sets (P is secondary) with fixed platform, and first connecting rod is connected by revolute pair (R is secondary) with second connecting rod.The second connecting rod of three side chains is hinged by end hinge at mechanism's end.Fixed platform is equilateral triangle structure, and the moving sets of three side chains is arranged on the angular bisector at three angles of equilateral triangle.When choosing three inputs of three moving sets as mechanism, end hinge has two frees degree, and these two motions are the two-dimensional movement in plane.Because mechanism has three inputs, two outputs and each side chain, all contain a P pair and two R pairs, be therefore called a kind of plane two degrees of freedom being formed by three PRR side chains and drive redundant parallel robot mechanism.
By technique scheme, there is following effect: structure and the driving of this mechanism are distributed symmetrically in the present invention, by increasing a side chain, has realized redundant drive, overcome working space inside unusual, and increased rigidity and the bearing capacity of mechanism.This mechanism can be used as industrial robot and realizes the operations such as picking and placeing in plane, assembling and metal cutting.
Accompanying drawing explanation:
Fig. 1 is structural representation of the present invention;
In figure: 1 is fixed platform, 2 is first connecting rod, and 3 is revolute pair, and 4 is second connecting rod, and 5 is end hinge, and P is moving sets
The specific embodiment:
Below in conjunction with the embodiment shown in accompanying drawing 1, be described in further detail:
In the embodiment shown in fig. 1: mechanism comprises fixed platform 1, end hinge 5 and three identical side chains, these three side chains all contain first connecting rod 2, second connecting rod 4, moving sets P, revolute pair 3 and end hinge 5.First connecting rod 2 is connected by moving sets P with fixed platform 1, and fixed platform 1 is equilateral triangle, and three moving sets P of three side chains are arranged on the angular bisector at 1 three angles of fixed platform.First connecting rod 2 is connected by revolute pair 3 with second connecting rod 4, and the second connecting rod 4 of three side chains is hinged by end hinge 5 at mechanism's end.The mechanism of whole mechanism is symmetrical, and fixed platform is equilateral triangle, and each side chain is also identical.
This driving redundant unit is by increasing the form of an identical series connection side chain, thereby increases the redundant drive that a driving obtains mechanism.When this mechanism works, three drivings exist simultaneously, and output only has two frees degree, belongs to super definite input.

Claims (2)

1. a kind of plane two degrees of freedom consisting of three PRR side chains drives redundant parallel robot mechanism, it is characterized in that: fixed platform is connected with end hinge by three identical side chains, each side chain all contains two connecting rods, a moving sets (P) is secondary and two revolute pairs (R is secondary).First connecting rod is connected by moving sets with fixed platform, and fixed platform is equilateral triangle, and three moving sets of three side chains are arranged on the angular bisector at three angles of equilateral triangle.First connecting rod is connected by revolute pair with second connecting rod, and it is hinged by end hinge that second of three side chains are connected in mechanism's end.
2. a kind of plane two degrees of freedom consisting of three PRR side chains according to claim 1 drives redundant parallel robot mechanism, it is characterized in that: described three identical side chains, symmetrical configuration.
CN201310586980.3A 2013-11-21 2013-11-21 Planar two-degree-of-freedom actuation redundancy parallel robot mechanism comprising three PRR branches Pending CN103552065A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107263446A (en) * 2017-06-28 2017-10-20 华南理工大学 The redundancy plane parallel mechanism control device and method of combination drive

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CN202318318U (en) * 2011-09-30 2012-07-11 北京工业大学 Planar 3-degree-of-freedom parallel robot comprising supple joints
CN103111999A (en) * 2013-02-23 2013-05-22 北京工业大学 Flexible-joint parallel robot device

Patent Citations (4)

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US5642469A (en) * 1994-11-03 1997-06-24 University Of Washington Direct-drive manipulator for pen-based force display
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
CN103111999A (en) * 2013-02-23 2013-05-22 北京工业大学 Flexible-joint parallel robot device

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Title
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王波: "三自由度平面并联机构位姿分析", 《机械制造与自动》, no. 1, 20 February 2012 (2012-02-20) *
魏轩,吴军: "3-RRR平面并联机构刚度分析", 《机械设计与制造》, no. 9, 8 September 2009 (2009-09-08) *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107263446A (en) * 2017-06-28 2017-10-20 华南理工大学 The redundancy plane parallel mechanism control device and method of combination drive
CN107263446B (en) * 2017-06-28 2024-01-02 华南理工大学 Hybrid-driven redundant plane parallel mechanism control device and method

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Application publication date: 20140205