Classification of parallel robots - OTC robots

From the perspective of movement mode, parallel organization can be divided into plane organization and spatial organization; Subdivisions can be divided into planar moving organizations, planar moving rolling organizations, spatial pure moving organizations, spatial pure rolling organizations and spatial mixed motion organizations, and can also be classified according to the number of degrees of freedom of parallel organizations:

Classification of parallel robots - OTC robots

Classification of parallel robots - OTC robots

1. Two-degree-of-freedom parallel organization: two-degree-of-freedom parallel organization, such as 5-R, 3-R-2-PR indicates the rolling pair, P indicates the moving pair, and the plane 5-bar organization is the most typical two-degree-of-freedom parallel organization, and this kind of organization generally has two moving movements.

2. Three-degree-of-freedom parallel organization.

There are many types of three-degree-of-freedom parallel organizations, and the methods are more complex, and there are generally the following ways: planar three-degree-of-freedom parallel organizations, such as 3-RRR organizations and 3-RPR organizations, which have two movements and one roll; Spherical 3 degrees of freedom parallel organization, such as 3-RRR spherical organization, 3-UPS-1-S spherical organization, 3-RRR spherical organization The axis of all motion pairs intersects a point in space, which is called the center of the organization, and the 3-UPS-1-S spherical organization takes the center point of S as the center of the organization, and the motion of all points on the organization is a rolling motion around the point; Three-dimensional pure mobile tissues, such as Star Like parallel organization, Tsai parallel organization and DELTA organization, the kinematic positive and negative solutions of such tissues are very simple, and it is a widely used three-dimensional mobile space organization. Space 3-degree-of-freedom parallel organization, such as the typical 3-RPS organization, this kind of organization belongs to the under-rank organization, and the different movement modes of different points in the operating space are its most obvious characteristics, because this special motion characteristic prevents the widespread use of this type of organization in practice; Another type is the addition of auxiliary members and motion pairs of space organization, such as the parallel machine tool developed by the University of Hannover in Germany using the 3-UPS-1-PU spherical coordinate formula 3 degrees of freedom parallel organization, because of the constraints of auxiliary members and motion pairs, so that the movement channel of the organization has 1 movement and 2 rolling motion, which can also be said to be 3 moving motion.

3. Four-degree-of-freedom parallel organization.

Most of the four-degree-of-freedom parallel organizations are not completely parallel organizations, such as 2-UPS-1-RRRR organizations, the motion channels are connected with the fixed channels through 3 branch chains, and there are 2 motion chains that are the same, each with 1 Hook hinge U and 1 moving pair P, where P and 1 R are driving pairs, so this kind of organization is not a complete parallel organization.

4. Five-degree-of-freedom parallel organization: The existing five-degree-of-freedom parallel-connected organization structure is complex, such as the five-degree-of-freedom parallel-connected organization of Korea Lee has a two-layer structure and the combination of two parallel-connected organizations.

5. Six-degree-of-freedom parallel organization.

6 Degrees of Freedom parallel organization is a major category of parallel robot organization, which is the most discussed parallel organization by scholars at home and abroad, and is widely used in flight simulators, 6-dimensional force and torque sensors, and parallel machine tools. However, there are many key skills of this type of organization that have not been fully addressed, such as the correct solution of their kinematics, the establishment of dynamic models, and the accuracy calibration of parallel machine tools. From the point of view of complete parallelism, such a tissue must have 6 chains of movement. However, in the existing parallel organization, there are also 6 degrees of freedom parallel organization with 3 motion chains, such as 3-PRPS and 3-URS and other organizations, and there is also a 6-degree-of-freedom parallel organization with a 5-bar organization attached to each branch of the 3 branches as the driving organization.

Classification of parallel robots - OTC robots

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