CN109015602A - Three translation 2CPR-URU parallel institutions - Google Patents
- ️Tue Dec 18 2018
CN109015602A - Three translation 2CPR-URU parallel institutions - Google Patents
Three translation 2CPR-URU parallel institutions Download PDFInfo
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- CN109015602A CN109015602A CN201810997298.6A CN201810997298A CN109015602A CN 109015602 A CN109015602 A CN 109015602A CN 201810997298 A CN201810997298 A CN 201810997298A CN 109015602 A CN109015602 A CN 109015602A Authority
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- 238000004519 manufacturing process Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
本发明涉及一种三平移2CPR‑URU并联机构，包括动平台、定平台以及连接动平台和定平台的运动支链，运动支链包括第一运动支链、第二运动支链和第三运动支链，第一运动支链和第二运动支链对称设置，第三运动支链位于第一运动支链和第二运动支链之间，第一运动支链和第二运动支链结构相同，均包括运动支链套杆、滑杆和圆柱副，运动支链套杆的第一端与动平台铰接，第一运动支链套杆和滑杆连接构成移动副，第一滑杆的第二端通过第一圆柱副与定平台连接；第三运动支链包括连杆、万向铰和第三转动副，两个连杆的一端通过第三转动副相互连接，连杆的另一端通过万向铰分别与动平台和定平台连接。本发明的并联机构结构简单、运动副数量少、结构紧凑且运行速度高。
The invention relates to a three-translation 2CPR‑URU parallel mechanism, which includes a moving platform, a fixed platform, and a kinematic branch chain connecting the moving platform and the fixed platform. The kinematic branch chain includes a first kinematic branch chain, a second kinematic branch chain and a third kinematic branch chain Branch chain, the first motion branch chain and the second motion branch chain are symmetrically arranged, the third motion branch chain is located between the first motion branch chain and the second motion branch chain, and the first motion branch chain and the second motion branch chain have the same structure , including a moving branch chain rod, a sliding rod and a cylinder pair. The first end of the moving branch chain rod is hinged to the moving platform. The first moving branch chain rod and the sliding rod are connected to form a moving pair. The two ends are connected to the fixed platform through the first cylindrical pair; the third kinematic branch chain includes connecting rods, universal hinges and the third rotating pair, one end of the two connecting rods is connected to each other through the third rotating pair, and the other end of the connecting rod is passed through The universal hinge is respectively connected with the moving platform and the fixed platform. The parallel mechanism of the invention has the advantages of simple structure, small number of kinematic pairs, compact structure and high operating speed.
Description
技术领域technical field
本发明涉及一种并联机构，特别涉及一种三平移2CPR-URU并联机构。The invention relates to a parallel mechanism, in particular to a three-translation 2CPR-URU parallel mechanism.
背景技术Background technique
并联机构是与串联机构相对的一类机械结构，与类似人臂的串联机构不同，并联机构是由多个并行运动链构成的闭链机械结构，包括一个定平台、一个动平台和连接它们的多条运动子链。并联机构与串联机构相比具有刚度大、结构紧凑、累计误差小、动态性能好等优点。并联机构分为六自由度并联机构和少自由度并联机构。六自由度的并联机构存在运动耦合性强、运动学正解复杂、工作空间小等显著缺点，并且在很多应用领域中，并不需要六自由度。为了避开上述缺点和降低成本，人们已经开始探索少自由度的并联机构，尤其是三平移并联机构。The parallel mechanism is a kind of mechanical structure opposite to the series mechanism. Unlike the series mechanism similar to the human arm, the parallel mechanism is a closed-chain mechanical structure composed of multiple parallel kinematic chains, including a fixed platform, a moving platform and connecting them. Multiple motion sub-chains. Compared with the series mechanism, the parallel mechanism has the advantages of high rigidity, compact structure, small cumulative error, and good dynamic performance. Parallel mechanisms are divided into six-degree-of-freedom parallel mechanisms and few-degree-of-freedom parallel mechanisms. The six-degree-of-freedom parallel mechanism has significant shortcomings such as strong kinematic coupling, complex kinematics forward solution, and small working space, and in many application fields, six-degree-of-freedom is not required. In order to avoid the above shortcomings and reduce costs, people have begun to explore parallel mechanisms with fewer degrees of freedom, especially three-translation parallel mechanisms.
三平移并联机构较六自由度并联机构相比结构简单，成本低，控制相对容易，应用相当广泛，如航空三维防震射击平台、三维装配机器人、三维坐标测量机、三维传感器、3D打印等领域。现有的三平移并联机构存在机械结构复杂、运动副数目较多、工作空间较小、末端执行器惯性大而导致机构运行速度不高的这些问题。Compared with the six-degree-of-freedom parallel mechanism, the three-translation parallel mechanism has simple structure, low cost, relatively easy control, and is widely used, such as aviation 3D shockproof shooting platform, 3D assembly robot, 3D coordinate measuring machine, 3D sensor, 3D printing and other fields. The existing three-translation parallel mechanism has the problems of complex mechanical structure, large number of kinematic pairs, small working space, and high inertia of the end effector, which lead to low running speed of the mechanism.
发明内容Contents of the invention
针对现有技术的不足，本发明提供一种三平移2CPR-URU并联机构，结构简单、运动副数目少、工作空间大、结构紧凑、运行速度高并且能实现空间三维平动。Aiming at the deficiencies of the prior art, the present invention provides a three-translation 2CPR-URU parallel mechanism, which has a simple structure, a small number of kinematic pairs, a large working space, a compact structure, a high operating speed and can realize three-dimensional translation in space.
本发明是这样实现的：The present invention is achieved like this:
一种三平移2CPR-URU并联机构，包括动平台、定平台以及连接所述动平台和定平台的运动支链，所述运动支链包括第一运动支链、第二运动支链和第三运动支链，所述第一运动支链和第二运动支链对称设置，所述第三运动支链位于所述第一运动支链和第二运动支链之间，所述第一运动支链包括第一运动支链套杆、第一滑杆和第一圆柱副，所述第一运动支链套杆的第一端与所述动平台铰接，所述第一运动支链套杆的第二端与所述第一滑杆的第一端连接，所述第一运动支链套杆和第一滑杆构成移动副，所述第一滑杆的第二端通过所述第一圆柱副与所述定平台连接；所述第二运动支链包括第二运动支链套杆、第二滑杆和第二圆柱副，所述第二运动支链套杆的第一端与所述动平台铰接，所述第二运动支链套杆的第二端与所述第二滑杆的第一端连接，所述第二运动支链套杆和第二滑杆构成移动副，所述第二滑杆的第二端通过所述第二圆柱副与所述定平台连接；所述第三运动支链包括第一连杆、第二连杆、第一万向铰、第二万向铰和第三转动副，所述第一连杆的第一端通过所述第一万向铰与所述动平台连接，所述第一连杆的第二端通过所述第三转动副与所述第二连杆的第一端铰接，所述第二连杆的第二端通过所述第二万向铰与所述定平台连接。A three-translation 2CPR-URU parallel mechanism, including a moving platform, a fixed platform, and a kinematic branch chain connecting the moving platform and the fixed platform, and the kinematic branch chain includes a first kinematic branch chain, a second kinematic branch chain and a third kinematic branch chain. Motion branch chains, the first motion branch chain and the second motion branch chain are arranged symmetrically, the third motion branch chain is located between the first motion branch chain and the second motion branch chain, and the first motion branch chain The chain includes a first motion branch chain rod, a first slide rod and a first cylinder pair, the first end of the first motion branch chain rod is hinged to the moving platform, and the first motion branch chain rod The second end is connected to the first end of the first sliding rod, the first motion branch chain sleeve rod and the first sliding rod constitute a moving pair, and the second end of the first sliding rod passes through the first cylinder The pair is connected with the fixed platform; the second motion branch chain includes a second motion branch chain sleeve rod, a second slide bar and a second cylinder pair, and the first end of the second motion branch chain sleeve rod is connected to the The moving platform is hinged, the second end of the second motion branch chain sleeve rod is connected to the first end of the second slide bar, the second motion branch chain sleeve rod and the second slide rod constitute a moving pair, and the The second end of the second slide rod is connected to the fixed platform through the second cylinder pair; the third motion branch chain includes a first connecting rod, a second connecting rod, a first universal hinge, a second universal joint hinge and a third rotating pair, the first end of the first connecting rod is connected to the moving platform through the first universal joint, and the second end of the first connecting rod is connected to the moving platform through the third rotating pair The first end of the second connecting rod is hinged, and the second end of the second connecting rod is connected to the fixed platform through the second universal joint.
优选的，所述第一运动支链套杆的第一端通过第一转动副与所述动平台铰接，所述第二运动支链套杆的第一端通过第二转动副与所述动平台铰接。Preferably, the first end of the first motion branch chain rod is hinged to the moving platform through a first rotation pair, and the first end of the second motion branch chain rod is connected to the moving platform through a second rotation pair. Platform hinged.
优选的，所述第一转动副与所述第一圆柱副的轴线平行，所述第二转动副与所述第二圆柱副的轴线平行。Preferably, the first rotating pair is parallel to the axis of the first cylindrical pair, and the second rotating pair is parallel to the axis of the second cylindrical pair.
优选的，所述第三转动副、所述第一万向铰远离所述动平台的转动副轴线和所述第二万向铰远离所述定平台的转动副的轴线相互平行。Preferably, the axis of the third rotating pair, the axis of the rotating pair of the first universal joint away from the moving platform, and the axis of the rotating pair of the second universal joint away from the fixed platform are parallel to each other.
优选的，所述第二万向铰的靠近所述定平台的转动副的轴线与所述定平台垂直，所述第二万向铰的远离所述定平台的转动副与所述第一圆柱副和第二圆柱副的轴向垂直。Preferably, the axis of the rotation pair of the second universal joint close to the fixed platform is perpendicular to the fixed platform, and the rotation pair of the second universal hinge far away from the fixed platform is connected to the first cylinder The axes of the pair and the second cylinder pair are perpendicular.
与现有技术相比，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
(1)本发明的三平移2CPR-URU并联机构的分支结构简单、运动副数目少、结构紧凑、运动速度高并且能够实现空间三维平动。(1) The branch structure of the three-translation 2CPR-URU parallel mechanism of the present invention is simple, the number of motion pairs is small, the structure is compact, the motion speed is high, and it can realize three-dimensional translation in space.
(2)本发明的并联机构的运动副配置简单、运动副均为低副，制造成本低。(2) The configuration of the kinematic pairs of the parallel mechanism of the present invention is simple, the kinematic pairs are all low, and the manufacturing cost is low.
(3)本发明属于非对称并联机构，与对称的并联机构相比工作空间较大，运动灵活性好。(3) The present invention belongs to an asymmetric parallel mechanism, and compared with a symmetrical parallel mechanism, the working space is larger and the movement flexibility is better.
(4)本发明的并联机构的驱动副全部放置于固定平台上，大大减少了并联机构整体的运动惯性，从而实现机构的高速运动。(4) The driving pairs of the parallel mechanism of the present invention are all placed on the fixed platform, which greatly reduces the overall motion inertia of the parallel mechanism, thereby realizing the high-speed movement of the mechanism.
附图说明Description of drawings
图1为本发明的三平移2CPR-URU并联机构的结构示意图。Fig. 1 is a schematic structural diagram of a three-translation 2CPR-URU parallel mechanism of the present invention.
具体实施方式Detailed ways
以下将参考附图详细说明本发明的示例性实施例、特征和性能方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。Exemplary embodiments, features, and performance aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
一种三平移2CPR-URU并联机构，包括动平台1、定平台2以及连接动平台1和定平台2的运动支链，运动支链包括第一运动支链5、第二运动支链10和第三运动支链18，第一运动支链5和第二运动支链10对称设置，即两个CPR、CPR分支分别由圆柱副C、移动副P和转动副R构成，第三运动支链18位于第一运动支链5和第二运动支链10之间，第三运动支链18为URU，动平台1和定平台2通过第一运动支链5、第二运动支链10和第三运动支链18传动相连，即通过2CPR-URU传动相连。A three-translation 2CPR-URU parallel mechanism, including a moving platform 1, a fixed platform 2, and a kinematic branch chain connecting the moving platform 1 and the fixed platform 2. The kinematic branch chain includes a first kinematic branch chain 5, a second kinematic branch chain 10 and The third kinematic branch chain 18, the first kinematic branch chain 5 and the second kinematic branch chain 10 are symmetrically arranged, that is, the two CPR and CPR branches are respectively composed of a cylinder pair C, a moving pair P and a rotating pair R, and the third kinematic branch chain 18 is located between the first kinematic branch chain 5 and the second kinematic branch chain 10, the third kinematic branch chain 18 is URU, the moving platform 1 and the fixed platform 2 pass through the first kinematic branch chain 5, the second kinematic branch chain 10 and the second kinematic branch chain The three-movement branch chains are connected by 18 transmissions, that is, through 2CPR-URU transmissions.
第一运动支链5包括第一运动支链套杆4、第一滑杆6和第一圆柱副7，第一运动支链套杆4的第一端与动平台1铰接，第一运动支链套杆4的第二端与第一滑杆6的第一端连接，第一运动支链套杆4和第一滑杆6构成移动副P，第一滑杆6的第二端通过第一圆柱副7与定平台2连接；第二运动支链10包括第二运动支链套杆9、第二滑杆11和第二圆柱副12，第二运动支链套杆9的第一端与动平台1铰接，第二运动支链套杆9的第二端与第二滑杆11的第一端连接，第二运动支链套杆9和第二滑杆11构成移动副P，第二滑杆11的第二端通过第二圆柱副12与定平台2连接；第三运动支链18包括第一连杆14、第二连杆16、第一万向铰13、第二万向铰17和第三转动副15，第一连杆14的第一端通过第一万向铰13与动平台1连接，第一连杆14的第二端通过第三转动副15与第二连杆16的第一端铰接，第二连杆16的第二端通过第二万向铰17与定平台2连接，其中，第一万向铰13和第二万向铰17为U，第三转动副为URU结构中的R。The first motion branch chain 5 comprises the first motion branch chain sleeve rod 4, the first slide bar 6 and the first cylinder pair 7, the first end of the first motion branch chain sleeve rod 4 is hinged with the moving platform 1, and the first motion branch chain The second end of the chain cover bar 4 is connected with the first end of the first slide bar 6, the first moving branch chain cover bar 4 and the first slide bar 6 form a moving pair P, and the second end of the first slide bar 6 passes through the first end of the first slide bar 6 A cylinder pair 7 is connected with the fixed platform 2; the second motion branch chain 10 includes the second motion branch chain sleeve rod 9, the second slide bar 11 and the second cylinder pair 12, and the first end of the second motion branch chain sleeve rod 9 Hinged with the moving platform 1, the second end of the second motion branch chain sleeve rod 9 is connected to the first end of the second slide rod 11, the second motion branch chain sleeve rod 9 and the second slide rod 11 form a moving pair P, and the first The second end of the two sliding rods 11 is connected with the fixed platform 2 through the second cylinder pair 12; the third motion branch chain 18 includes the first connecting rod 14, the second connecting rod 16, the first universal hinge 13, the second universal joint hinge 17 and the third rotating pair 15, the first end of the first connecting rod 14 is connected with the moving platform 1 through the first universal hinge 13, and the second end of the first connecting rod 14 is connected with the second connecting rod through the third rotating pair 15. The first end of the rod 16 is hinged, and the second end of the second connecting rod 16 is connected with the fixed platform 2 through the second universal hinge 17, wherein the first universal hinge 13 and the second universal hinge 17 are U, and the third universal hinge 17 is U. The revolving pair is R in the URU structure.
优选的，第一运动支链套杆4的第一端通过第一转动副3与动平台1铰接，第二运动支链套杆9的第一端通过第二转动副8与动平台1铰接。第一转动副3与第一圆柱副7的轴线平行，第二转动副8与第二圆柱副12的轴线平行。Preferably, the first end of the first motion branch chain sleeve rod 4 is hinged with the moving platform 1 through the first rotating pair 3, and the first end of the second motion branch chain sleeve rod 9 is hinged with the moving platform 1 through the second rotating pair 8 . The first rotary pair 3 is parallel to the axis of the first cylindrical pair 7 , and the second rotary pair 8 is parallel to the axis of the second cylindrical pair 12 .
优选的，第三转动副15、第一万向铰13远离动平台1的转动副轴线和第二万向铰17远离定平台2的转动副的轴线相互平行。第二万向铰17的靠近定平台2的转动副的轴线与定平台2垂直，第二万向铰17的远离定平台2的转动副与第一圆柱副7和第二圆柱副12的轴向垂直。Preferably, the axis of the third rotating pair 15 , the axis of the rotating pair of the first universal hinge 13 away from the moving platform 1 , and the axis of the rotating pair of the second universal hinge 17 away from the fixed platform 2 are parallel to each other. The axis of the rotation pair near the fixed platform 2 of the second universal hinge 17 is perpendicular to the fixed platform 2, and the rotation pair of the second universal hinge 17 away from the fixed platform 2 is connected to the axis of the first cylindrical pair 7 and the second cylindrical pair 12. vertically.
以应用在基于并联机构的3D打印机为例，通过在第一圆柱副7和第二圆柱副12的移动副处添加电动推杆作为驱动，在电动推杆的驱动作用下，第一运动支链的第一滑杆6和第二运动支链的第二滑杆11与定平台2之间发生相对位移，使得第一运动支链5、第二运动支链10与定平台2之间的相对位置发生变化。在靠近定平台2的万向铰的转动副处添加伺服电机驱动机构，在旋转电机的驱动作用下，第二连杆16与机架之间发生相对转动，使得第三运动支链18与定平台2之间的相对位置发生变化，带动安装在动平台1上的打印头按照控制轨迹运动，实现三个坐标轴方向的平移。打印头可从上一打印点沿着任意曲线移动至下一打印点，打印头移动速度快，动作精度高。Taking a 3D printer based on a parallel mechanism as an example, by adding an electric push rod as a drive at the moving pair of the first cylinder pair 7 and the second cylinder pair 12, under the driving action of the electric push rod, the first motion branch chain Relative displacement occurs between the first slide bar 6 of the second kinematic branch chain and the second slide bar 11 of the second kinematic branch chain and the fixed platform 2, so that the relative displacement between the first kinematic branch chain 5, the second kinematic branch chain 10 and the fixed platform 2 The location has changed. A servo motor drive mechanism is added at the rotating pair of the universal joint near the fixed platform 2, under the drive of the rotating motor, relative rotation occurs between the second connecting rod 16 and the frame, so that the third kinematic branch chain 18 and the fixed The relative position between the platforms 2 changes, which drives the printing head installed on the moving platform 1 to move according to the control trajectory, and realizes the translation in the direction of the three coordinate axes. The print head can move from the previous print point to the next print point along any curve, with fast moving speed and high motion precision.
本发明的并联机构不仅限于在3D打印机的应用，还可应用在航空三维防震射击平台、三维装配机器人、三维坐标测量机、三维传感器等多种领域。The parallel mechanism of the present invention is not limited to the application in 3D printers, but can also be applied in various fields such as aviation three-dimensional anti-shock shooting platforms, three-dimensional assembly robots, three-dimensional coordinate measuring machines, and three-dimensional sensors.
综上，本发明具有以下优点：In summary, the present invention has the following advantages:
本发明的三平移2CPR-URU并联机构的分支结构简单、运动副数目少、结构紧凑、运动速度高并且能够实现空间三维平动的并联结构。本发明的并联机构的运动副配置简单、运动副均为低副，制造成本低。本发明属于非对称并联机构，与对称的并联机构相比工作空间较大，运动灵活性好。本发明的并联机构的驱动副全部放置于固定平台上，大大减少了并联机构整体的运动惯性，从而实现机构的高速运动。The three-translation 2CPR-URU parallel mechanism of the present invention has a simple branch structure, a small number of motion pairs, a compact structure, a high motion speed, and a parallel structure capable of realizing three-dimensional translation in space. The kinematic pair configuration of the parallel mechanism of the present invention is simple, and the kinematic pairs are all low, and the manufacturing cost is low. The invention belongs to the asymmetrical parallel mechanism, and compared with the symmetrical parallel mechanism, the working space is larger and the movement flexibility is good. The driving pairs of the parallel mechanism of the present invention are all placed on the fixed platform, which greatly reduces the overall motion inertia of the parallel mechanism, thereby realizing high-speed movement of the mechanism.
最后应说明的是：以上所述的各实施例仅用于说明本发明技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分或全部技术特征进行等同替换；而这些修改或替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。It should be noted at last that each embodiment described above is only used to illustrate the technical solution of the present invention, and is not intended to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.
Claims (5)
1. one kind three translates 2CPR-URU parallel institution, including moving platform, fixed platform and the connection moving platform and fixed platform Movement branched chain, it is characterised in that: the movement branched chain include the first movement branched chain, the second movement branched chain and third movement branch Chain, first movement branched chain and the second movement branched chain are symmetrical arranged, and the third movement branched chain is located at the first movement branch Between chain and the second movement branched chain,
First movement branched chain includes the first movement branched chain loop bar, the first slide bar and the first cylindrical pair, the first movement branch The first end of chain loop bar and the moving platform are hinged, and the of the second end of the first movement branched chain loop bar and first slide bar One end connection, the first movement branched chain loop bar and the first slide bar constitute prismatic pair, and the second end of first slide bar passes through institute The first cylindrical pair is stated to connect with the fixed platform；
Second movement branched chain includes the second movement branched chain loop bar, the second slide bar and the second cylindrical pair, the second movement branch The first end of chain loop bar and the moving platform are hinged, and the of the second end of the second movement branched chain loop bar and second slide bar One end connection, the second movement branched chain loop bar and the second slide bar constitute prismatic pair, and the second end of second slide bar passes through institute The second cylindrical pair is stated to connect with the fixed platform；
The third movement branched chain include first connecting rod, second connecting rod, first it is universal hinge, second it is universal hinge and third revolute pair, The first end of the first connecting rod is connect by the described first universal hinge with the moving platform, and the second end of the first connecting rod is logical It crosses the third revolute pair and the first end of the second connecting rod is hinged, the second end of the second connecting rod passes through the described 20000th It is connect to hinge with the fixed platform.
2. three translations 2CPR-URU parallel institution according to claim 1, it is characterised in that: the first movement branched chain set The first end of bar is hinged by the first revolute pair and the moving platform, and the first end of the second movement branched chain loop bar passes through second Revolute pair and the moving platform are hinged.
3. three translations 2CPR-URU parallel institution according to claim 2, it is characterised in that: first revolute pair and institute The axis for stating the first cylindrical pair is parallel, and second revolute pair is parallel with the axis of second cylindrical pair.
4. three translations 2CPR-URU parallel institution according to claim 1, it is characterised in that: the third revolute pair, institute State the first universal revolute pair axis cut with scissors far from the moving platform and the second universal revolute pair for cutting with scissors the separate fixed platform Axis be parallel to each other.
5. three translations 2CPR-URU parallel institution according to claim 4, it is characterised in that: the second universal hinge is leaned on The axis of the revolute pair of the nearly fixed platform is vertical with the fixed platform, and the second universal hinge turns far from the fixed platform It is dynamic secondary with first cylindrical pair and the second cylindrical pair it is axially vertical.
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