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CN102814812A - Position and attitude decoupled double-parallel six-degree-of-freedom motion platform - Google Patents

Position and attitude decoupled double-parallel six-degree-of-freedom motion platform Download PDF

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Publication number
CN102814812A
CN102814812A CN2012103234952A CN201210323495A CN102814812A CN 102814812 A CN102814812 A CN 102814812A CN 2012103234952 A CN2012103234952 A CN 2012103234952A CN 201210323495 A CN201210323495 A CN 201210323495A CN 102814812 A CN102814812 A CN 102814812A
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cylinders
linear
platform
attitude
degree
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CN102814812B (en
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沈惠平
黄涛
邓嘉鸣
王振
孟庆梅
杨廷力
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Chongqing Tianqi Yufeng Power Technology Co ltd
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Changzhou University
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Abstract

The invention discloses a position and attitude decoupled double-parallel six-degree-of-freedom motion platform comprising a fixed platform (0), a movable platform (7) and six linear cylinders, wherein the movable platform (7) and the fixed platform (0) are directly connected through a spherical pair after two ends of three of the linear cylinders are respectively connected with the movable platform (7) and the fixed platform (0) by using spherical pairs; one ends of the other three linear cylinders are respectively connected with the movable platform (7) by using spherical pairs, wherein the other ends of two of the three linear cylinders are respectively connected with a cylinder body or an extension bar of the third linear cylinder by using spherical pairs, while a manipulator is fixed at the outer extension end (P) of the cylinder body or extension bar of the third linear cylinder; and the six liner cylinders can be air cylinders, oil hydraulic cylinders and electric cylinders, the position and the attitude of the manipulator can be obtained through controlling the six linear cylinders, the position and the attitude are decoupled and a part of analysis is input or output. The motion platform is simple in structure and convenient to control so as to be used for multi-degree-of-freedom automatic devices or robot manipulators.

Description

The two-in-parallel 6-dof motion platform of a kind of position and attitude decoupling
Technical field
The present invention relates to the executing agency of a kind of robot and automated arm, specifically a kind of novel six degree of freedom is partly resolved, the parallel operation mechanism of decoupling zero for equipments such as robot and parallel machine provide.
Background technology
Parallel institution has obtained extensive use in fields such as robot, virtual-shaft machine tool, coordinate measuring machine, emulation platform, microoperation manipulators, and 6DOF Stewart parallel machine has been considered to the revolution of machine tool structure since the twentieth century; The imaginary axis coordinate measuring machine of parallel-connection structure (contain and measure pen machine); It also is a major progress on the scientific measurement appearance in recent years; It has uniquenesses such as structural rigidity is big, movement velocity is high, error does not superpose, and performances such as certainty of measurement and efficiency of measurement are greatly improved.At present, for 6-SPS and 6-RSS mechanism, the spatial pose of its end effector is more flexible; And carry big, good rigidity, the reverse resolution that is easy to get is separated, but the kinematics solution of its end effector is very difficult; Can't obtain the normal solution analytic solutions, therefore, range of application is affected.Choosing etc. of topology design and the driving auxiliary of topology design (side chain type, compound mode) and the side chain that the whole premium properties of parallel institution depends on the side chain of its composition between dynamic and static platform.
Therefore; Decoupling good (full decoupling or partly decoupled), the normal solution analytic solutions that are easy to get, working space are big and be difficult for interfering, make assembling is easy to the design of 6-dof parallel institution type; Be one of difficult problem that challenge is the strongest in long-term unresolved, the parallel institution research field of educational circles of mechanism, need create the new architecture that performance is superior to existing mechanism.
Summary of the invention
The present invention seeks to overcome the shortcoming of prior art, provide that a kind of novel six degree of freedom is partly resolved, the decoupled parallel operating mechanism.Its technical scheme is: the two-in-parallel 6-dof motion platform of a kind of position and attitude decoupling; Comprise silent flatform (0), moving platform (7) and six linear cylinders; After the two ends of three linear cylinders connect moving platform (7) and silent flatform (0) with ball is secondary respectively, directly be connected through a ball pair again between moving platform (7) and the silent flatform (0); And an end of three linear cylinders connects moving platform (7) with the ball pair respectively in addition; Wherein, The other end of two linear cylinders is respectively with secondary cylinder body or the extension bar that connects the 3rd the linear cylinder other end of ball, and operator is fixed on the cylinder body of the 3rd the linear cylinder other end or the overhanging end (P) of extension bar.
Further, six ball pairs on the described moving platform (7) can be on a plane, also can be or not a plane; Described six linear cylinders are cylinder or oil hydraulic cylinder or electronic cylinder.Simultaneously, any ball at described six linear cylinder two ends is secondary, and all available binary universal joint substitutes.
Control six linear cylinders, can obtain the position and the attitude of operator, separate to resolving the two decoupling zero and position.This motion platform structure is uncomplicated, is convenient to control, can be used for multivariant automation equipment or robot manipulator.
Description of drawings
Accompanying drawing 1 is the structural representation of one embodiment of the present of invention.
The specific embodiment
Through accompanying drawing and instance technology of the present invention is given to explain further below.
Accompanying drawing 1 is depicted as one embodiment of the present of invention; The two-in-parallel 6-dof motion platform of a kind of position and attitude decoupling; An end that comprises silent flatform 0, moving platform 7 and first～the 6th linear cylinder 1～6, first linear cylinder 1, second linear cylinder 2, the 3rd linear cylinder 3 is used secondary S of ball respectively 1, S 2, S 3Connect silent flatform 0, the other end is used secondary S of ball respectively 10, S 8, S 6Connect moving platform 7, afterwards, pass through a secondary S of ball between moving platform 7 and the silent flatform 0 again 4Directly connect; And an end of the 4th linear cylinder 4, the 5th linear cylinder 5, the 6th linear cylinder 6 is used secondary S of ball respectively 9, S 7, S 5Connect moving platform 7, wherein, the other end of the 4th linear cylinder 4, the 5th linear cylinder 5 is used secondary S of ball respectively 11, S 12The cylinder body or the extension bar that connect the other end of the 6th linear cylinder 6, and operator just is fixed on cylinder body or the overhanging end P of extension bar of the other end of the 6th linear cylinder 6.
Six ball pairs on the moving platform 7 can be on a plane, also can be or not a plane; Six linear cylinders can be cylinders, also can be oil hydraulic cylinder or electronic cylinder.Simultaneously, any ball at six linear cylinder two ends is secondary, and all available binary universal joint substitutes.
Control six linear cylinders, can obtain the D translation and the Three dimensional rotation output of operator, wherein, the attitude of first～the 3rd straight line control moving platform, the 4th linear cylinder～the 6th linear cylinder three controls the position of moving platform.This platform is prone to try to achieve positive and negative the separating of operator position kinematics, and and attitude decoupling, control easily, can be used as become attitude flexibly, the executing agency of carrying the automated arms such as New Type Parallel Machine Tool or robot of big, good rigidity.

Claims (3)

1.一种位置和姿态解耦的双并联六自由度运动平台，包括静平台(0)、动平台(7)及六只直线缸，其特征在于三只直线缸的两端分别用球副连接动平台(7)与静平台(0)后，动平台(7)与静平台(0)之间又通过一个球副直接连接；而另三只直线缸的一端分别用球副连接动平台(7)，其中，两只直线缸的另一端分别用球副连接第三只直线缸另一端的的缸体或伸出杆，而操作器固定在第三只直线缸另一端的的缸体或伸出杆的外伸端(P)。1. A dual-parallel six-degree-of-freedom motion platform with position and attitude decoupling, comprising a static platform (0), a dynamic platform (7) and six linear cylinders, characterized in that the two ends of the three linear cylinders are respectively connected by ball pairs After connecting the dynamic platform (7) and the static platform (0), the dynamic platform (7) and the static platform (0) are directly connected through a ball pair; and one end of the other three linear cylinders is respectively connected to the dynamic platform with a ball pair (7), wherein, the other ends of the two linear cylinders are respectively connected with the cylinder body or extension rod at the other end of the third linear cylinder with a ball pair, and the manipulator is fixed on the cylinder body at the other end of the third linear cylinder Or stick out the protruding end (P) of the rod. 2.按权利要求1所述的位置和姿态解耦的双并联六自由度运动平台，其特征在于所述的动平台(7)上的六个球副可在一个平面，也可不在一个平面；所述的六只直线缸为汽缸或油压缸或电动缸。2. The double-parallel six-degree-of-freedom motion platform decoupled from position and attitude according to claim 1, characterized in that the six ball pairs on the moving platform (7) can be in one plane or not in one plane ; The six linear cylinders are cylinders or hydraulic cylinders or electric cylinders. 3.按权利要求书1所述的位置和姿态解耦的双并联六自由度运动平台，其特征在于六只直线缸两端的任一个球副，均可用二自由度的万向节替代。3. The double-parallel six-degree-of-freedom motion platform decoupled from position and attitude according to claim 1, characterized in that any ball pair at both ends of the six linear cylinders can be replaced by a two-degree-of-freedom universal joint.
CN201210323495.2A 2012-09-05 2012-09-05 Position and attitude decoupled double-parallel six-degree-of-freedom motion platform Active CN102814812B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103365249A (en) * 2013-07-10 2013-10-23 西安电子科技大学 Rapid solving method for failure workspace of six-degree-of-freedom parallel robot
CN105291094B (en) * 2015-11-27 2017-02-01 中国地质大学（武汉） Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism
CN107738249A (en) * 2014-07-16 2018-02-27 合肥智慧龙机械设计有限公司 A kind of billiard robot based on two-in-parallel mechanism

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CN101961870A (en) * 2010-08-12 2011-02-02 燕山大学 Danger rescue and pipe parallel robot
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103365249A (en) * 2013-07-10 2013-10-23 西安电子科技大学 Rapid solving method for failure workspace of six-degree-of-freedom parallel robot
CN103365249B (en) * 2013-07-10 2015-07-08 西安电子科技大学 Fast solution method for faulty workspace of six-degree-of-freedom parallel robot
CN107738249A (en) * 2014-07-16 2018-02-27 合肥智慧龙机械设计有限公司 A kind of billiard robot based on two-in-parallel mechanism
CN105291094B (en) * 2015-11-27 2017-02-01 中国地质大学（武汉） Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism

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