CN105619391A - Two-degree-of-freedom in-parallel mechanism - Google Patents
Two-degree-of-freedom in-parallel mechanism Download PDFInfo
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- CN105619391A CN105619391A CN201610171369.8A CN201610171369A CN105619391A CN 105619391 A CN105619391 A CN 105619391A CN 201610171369 A CN201610171369 A CN 201610171369A CN 105619391 A CN105619391 A CN 105619391A
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- Prior art keywords
- slide block
- branched chain
- guide rail
- movement branched
- rotating
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Classifications
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
Abstract
A two-degree-of-freedom in-parallel mechanism mainly comprises a fixed platform, movable platforms, an annular guide rail and three movement branched chains for connecting the movable platforms with the fixed platform. Each movement branched chain is composed of a lower connecting rod, a sliding block and an upper connecting rod. The lower connecting rods are connected with the fixed platform through rotating pairs and connected with the sliding blocks through rotating pairs or spherical pairs. The sliding blocks are connected with the upper connecting rods through rotating pairs or spherical pairs. The upper connecting rods are connected with the movable platforms through rotating pairs. The sliding bock in each movement branched chain is connected with the annular guide rail through a movable pair. The sliding blocks can only conduct circumferential sliding along the annular guide rail. The annular guide rail is circular. By the adoption of the two-degree-of-freedom in-parallel mechanism, the movable platforms can conduct spherical two-degree-of-freedom rotation relative to the fixed platform, and the two-degree-of-freedom in-parallel mechanism has the beneficial effects of being small in size, high in rigidity, high in precision, large in rotating working space and the like and can be widely applied to the field of robots.
Description
Technical field
The present invention relates to a kind of parallel institution, in particular to a kind of two-degree-of-freedom parallel mechanism.
Technical background
Parallel institution is without progressive error, precision is higher, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts weight is light, dynamic response good, compact construction, rigidity height, supporting capacity are big, and completely symmetrical parallel institution also has good isotropy. But the working space of parallel institution is general less, seriously constraining the application of parallel institution in fields such as industry and robots, therefore research has the parallel institution of big working space, has important theory significance and actual application value.
The degree of freedom of parallel institution can be divided into one-movement-freedom-degree and rotatably mounted degree, and wherein mobile working space increases by the way of enlarging mechanism size, but rotation space does not but increase with the increase of mechanism size. Big working space is rotated the research of class parallel institution relatively early abroad, US Patent No. 4651589 proposes a kind of big working space three one-rotation parallel mechanism, and it is successfully applied to radar tracing equipment, US Patent No. 4686866 discloses a kind of big working space two one-rotation parallel mechanism, and it is successfully applied in industrial spraying robot joint, US Patent No. 7478576B2 discloses a kind of three side chain big working space two one-rotation parallel mechanism, and is applied in the bionical wrist joint of two-freedom. US Patent No. 6658962B1 discloses a kind of four side chain big working space two one-rotation parallel mechanism, and is applied in bionic machine people's shoulder joint. Domestic less to having big rotation work space parallel mechanism achievement in research, wherein big working space two one-rotation parallel mechanism has been studied by patent of invention CN103217986A and patent of invention CN103433916A, and achieves some achievements. But the parallel institution in above-mentioned big rotation work space all belongs to aspheric surface one-rotation parallel mechanism, the center of rotation of mechanism is not unique, making moving platform can produce the movement added in rotation process, this character seriously limits the application of this kind of mechanism in robot particularly bionic machine people field.
Summary of the invention
For solving the problem, the present invention provides a kind of two-degree-of-freedom parallel mechanism, moving platform can be realized do sphere two-freedom relative to fixed platform and rotate, and this joint has advantages such as volume is little, rigidity big, rotation work space is big, the robot particularly field such as bionic machine people can be widely used in.
The technical scheme of the present invention is specific as follows:
The present invention mainly comprises fixed platform, moving platform, ring-shaped guide rail, connects three movement branched chain dynamic, fixed platform, and it has three kinds of mode of connection:
The first mode of connection: three movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end is secondary by rotating with fixed platform to be connected, the lower link the other end is connected by sphere pair with slide block, upper connecting rod one end is secondary by rotating with moving platform to be connected, and the upper connecting rod the other end is secondary by rotating with slide block to be connected; Article three, all axis rotating pair in movement branched chain intersect at 1 O, and some O is the center of rotation of mechanism; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and described some O crossed by its central shaft line.
2nd kind of mode of connection: three articles of movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end is secondary by rotating with fixed platform to be connected, the lower link the other end is secondary by rotating with slide block to be connected, upper connecting rod one end is secondary by rotating with moving platform to be connected, and the upper connecting rod the other end is connected by sphere pair with slide block; Article three, all axis rotating pair in movement branched chain intersect at 1 O, and some O is the center of rotation of mechanism; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and described some O crossed by its central shaft line.
The third mode of connection: three movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end is secondary by rotating with fixed platform to be connected, the lower link the other end is connected by sphere pair with slide block, upper connecting rod one end is secondary by rotating with moving platform to be connected, and the upper connecting rod the other end is connected by sphere pair with slide block; Article three, all axis rotating pair in movement branched chain intersect at 1 O, and some O is the center of rotation of mechanism; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and described some O crossed by its central shaft line.
The present invention compared with prior art tool have the following advantages:
(1) the relative fixed platform of moving platform has sphere double rotation freedom degrees, and center of rotation is unique; (2) moving platform relative fixed platform rotation work space is big, rotates angle and can reach �� 90 degree; (3) organization volume is little, and rigidity is big; (4) mutually it is coupled between three movement branched chain of mechanism, substantially increases the stress performance of mechanism; (5) in the middle part of mechanism being hollow structure, cable etc. can pass in the middle of mechanism, is conducive to the protection of cable.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention 1 three-dimensional arrangement simplified schematic diagram.
Fig. 2 is the embodiment of the present invention 1 deflection state three-dimensional arrangement simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 2 three-dimensional arrangement simplified schematic diagram.
Fig. 4 is the embodiment of the present invention 3 three-dimensional arrangement simplified schematic diagram.
In figure: 1. fixed platform, 2. moving platform, (A3, B3, C3). lower link, (A4, B4, C4). slide block, (A5, B5, C5). upper connecting rod, 6. ring-shaped guide rail.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described, and in all embodiments, described Rij represents that one is rotated secondary, and Sij represents a sphere pair, and Pij represents a moving sets, and wherein i, j are natural number.
Embodiment 1
Being the 1st embodiment disclosed by the invention as shown in Figure 1 and Figure 2, a kind of two-degree-of-freedom parallel mechanism, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three movement branched chain dynamic, fixed platform. Article three, movement branched chain structure is identical, and wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, is connected by rotating secondary R11 between lower link A3 one end and fixed platform 1, and the lower link A3 the other end is connected by sphere secondary S12 with slide block A4; By rotating, secondary R13 is connected with slide block A4 in upper connecting rod A5 one end, is connected by rotating secondary R14 between the upper connecting rod A5 the other end and moving platform 2. 2nd movement branched chain is made up of lower link B3, slide block B 4 and upper connecting rod B5, is connected by rotating secondary R21 between lower link B3 one end and fixed platform 1, and the lower link B3 the other end is connected by sphere secondary S22 with slide block B 4; By rotating, secondary R23 is connected with slide block B 4 in upper connecting rod B5 one end, is connected by rotating secondary R24 between the upper connecting rod B5 the other end and moving platform 2. 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, is connected by rotating secondary R31 between lower link C3 one end and fixed platform 1, and the lower link C3 the other end is connected by sphere secondary S32 with slide block C4; By rotating, secondary R33 is connected with slide block C4 in upper connecting rod C5 one end, is connected by rotating secondary R34 between the upper connecting rod C5 the other end and moving platform 2.
In first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 annularly can only do circumferential slippage by guide rail 6; In 2nd movement branched chain, slide block B 4 is connected by moving sets P25 with ring-shaped guide rail 6, and slide block B 4 annularly can only do circumferential slippage by guide rail 6; In 3rd movement branched chain, slide block C4 is connected by moving sets P35 with ring-shaped guide rail 6, and slide block C4 annularly can only do circumferential slippage by guide rail 6.
Described rotation secondary R11, rotate secondary R13, rotate secondary R14, rotate secondary R21, rotate secondary R23, the axis of rotation secondary R24, rotation secondary R31, rotation secondary R33, rotation secondary R34 intersects at 1 O, and puts O and be the center of rotation of mechanism. Described ring-shaped guide rail 6 is annular, and described some O crossed by its central shaft line.
Embodiment 2
Being the 2nd embodiment disclosed by the invention as shown in Figure 3, a kind of two-degree-of-freedom parallel mechanism, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three movement branched chain dynamic, fixed platform. Article three, movement branched chain structure is identical, and wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, is connected by rotating secondary R11 between lower link A3 one end and fixed platform 1, and by rotating, secondary R12 is connected the lower link A3 the other end with slide block A4; Upper connecting rod A5 one end is connected by sphere secondary S13 with slide block A4, is connected by rotating secondary R14 between the upper connecting rod A5 the other end and moving platform 2. 2nd movement branched chain is made up of lower link B3, slide block B 4 and upper connecting rod B5, is connected by rotating secondary R21 between lower link B3 one end and fixed platform 1, and by rotating, secondary R22 is connected the lower link B3 the other end with slide block B 4; Upper connecting rod B5 one end is connected by sphere secondary S23 with slide block B 4, is connected by rotating secondary R24 between the upper connecting rod B5 the other end and moving platform 2. 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, is connected by rotating secondary R31 between lower link C3 one end and fixed platform 1, and by rotating, secondary R32 is connected the lower link C3 the other end with slide block C4; Upper connecting rod C5 one end is connected by sphere secondary S33 with slide block C4, is connected by rotating secondary R34 between the upper connecting rod C5 the other end and moving platform 2.
In first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 annularly can only do circumferential slippage by guide rail 6; In 2nd movement branched chain, slide block B 4 is connected by moving sets P25 with ring-shaped guide rail 6, and slide block B 4 annularly can only do circumferential slippage by guide rail 6; In 3rd movement branched chain, slide block C4 is connected by moving sets P35 with ring-shaped guide rail 6, and slide block C4 annularly can only do circumferential slippage by guide rail 6.
Described rotation secondary R11, rotate secondary R12, rotate secondary R14, rotate secondary R21, rotate secondary R22, the axis of rotation secondary R24, rotation secondary R31, rotation secondary R32, rotation secondary R34 intersects at 1 O, and puts O and be the center of rotation of mechanism. Described ring-shaped guide rail 6 is annular, and described some O crossed by its central shaft line.
Embodiment 3
Being the 3rd embodiment disclosed by the invention as shown in Figure 4, a kind of two-degree-of-freedom parallel mechanism, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three movement branched chain dynamic, fixed platform. Article three, movement branched chain structure is identical, and wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, is connected by rotating secondary R11 between lower link A3 one end and fixed platform 1, and the lower link A3 the other end is connected by sphere secondary S12 with slide block A4; Upper connecting rod A5 one end is connected by sphere secondary S13 with slide block A4, is connected by rotating secondary R14 between the upper connecting rod A5 the other end and moving platform 2. 2nd movement branched chain is made up of lower link B3, slide block B 4 and upper connecting rod B5, is connected by rotating secondary R21 between lower link B3 one end and fixed platform 1, and the lower link B3 the other end is connected by sphere secondary S22 with slide block B 4; Upper connecting rod B5 one end is connected by sphere secondary S23 with slide block B 4, is connected by rotating secondary R24 between the upper connecting rod B5 the other end and moving platform 2. 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, is connected by rotating secondary R31 between lower link C3 one end and fixed platform 1, and the lower link C3 the other end is connected by sphere secondary S32 with slide block C4; Upper connecting rod C5 one end is connected by sphere secondary S33 with slide block C4, is connected by rotating secondary R34 between the upper connecting rod C5 the other end and moving platform 2.
In first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 annularly can only do circumferential slippage by guide rail 6; In 2nd movement branched chain, slide block B 4 is connected by moving sets P25 with ring-shaped guide rail 6, and slide block B 4 annularly can only do circumferential slippage by guide rail 6; In 3rd movement branched chain, slide block C4 is connected by moving sets P35 with ring-shaped guide rail 6, and slide block C4 annularly can only do circumferential slippage by guide rail 6.
Described rotation secondary R11, rotation secondary R14, rotation secondary R21, rotation secondary R24, rotation secondary R31, the axis rotating secondary R34 intersect at 1 O, and put the center of rotation that O is mechanism. Described ring-shaped guide rail 6 is annular, and described some O crossed by its central shaft line.
Claims (3)
1. a two-degree-of-freedom parallel mechanism, it has fixed platform, moving platform, ring-shaped guide rail, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, and lower link one end is secondary by rotating with fixed platform to be connected, and the lower link the other end is connected by sphere pair with slide block, upper connecting rod one end is secondary by rotating with moving platform to be connected, and the upper connecting rod the other end is secondary by rotating with slide block to be connected; Article three, all axis rotating pair in movement branched chain intersect at 1 O, and some O is the center of rotation of mechanism; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and described some O crossed by its central shaft line.
2. a two-degree-of-freedom parallel mechanism, it has fixed platform, moving platform, ring-shaped guide rail, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, and lower link one end is secondary by rotating with fixed platform to be connected, and the lower link the other end is secondary by rotating with slide block to be connected, upper connecting rod one end is secondary by rotating with moving platform to be connected, and the upper connecting rod the other end is connected by sphere pair with slide block; Article three, all axis rotating pair in movement branched chain intersect at 1 O, and some O is the center of rotation of mechanism; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and described some O crossed by its central shaft line.
3. a two-degree-of-freedom parallel mechanism, it has fixed platform, moving platform, ring-shaped guide rail, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, and lower link one end is secondary by rotating with fixed platform to be connected, and the lower link the other end is connected by sphere pair with slide block, upper connecting rod one end is secondary by rotating with moving platform to be connected, and the upper connecting rod the other end is connected by sphere pair with slide block; Article three, all axis rotating pair in movement branched chain intersect at 1 O, and some O is the center of rotation of mechanism; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and described some O crossed by its central shaft line.
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| CN201610171369.8A CN105619391A (en) | 2016-03-24 | 2016-03-24 | Two-degree-of-freedom in-parallel mechanism |
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| CN201610171369.8A CN105619391A (en) | 2016-03-24 | 2016-03-24 | Two-degree-of-freedom in-parallel mechanism |
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Cited By (3)
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| CN107139164A (en) * | 2017-06-21 | 2017-09-08 | 东莞爱创机器人科技有限公司 | A kind of sphere parallel mechanism |
| CN107932487A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of slide block type |
| US20230256592A1 (en) * | 2021-09-21 | 2023-08-17 | Nsk Ltd. | Parallel link mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107139164A (en) * | 2017-06-21 | 2017-09-08 | 东莞爱创机器人科技有限公司 | A kind of sphere parallel mechanism |
| CN107932487A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of slide block type |
| US20230256592A1 (en) * | 2021-09-21 | 2023-08-17 | Nsk Ltd. | Parallel link mechanism |
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