CN108544472A - A kind of combination soft hinge formula parallel connection Roberts mechanisms - Google Patents
A kind of combination soft hinge formula parallel connection Roberts mechanisms Download PDFInfo
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- CN108544472A CN108544472A CN201810341018.6A CN201810341018A CN108544472A CN 108544472 A CN108544472 A CN 108544472A CN 201810341018 A CN201810341018 A CN 201810341018A CN 108544472 A CN108544472 A CN 108544472A
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- mechanisms
- combination
- hinge
- soft hinge
- guide beam
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Telephone Set Structure (AREA)
Abstract
The invention discloses a kind of combination soft hinge formula parallel connection Roberts mechanisms, the soft hinge formula parallel connection Roberts mechanisms of the combination are by four identical combination Rou Jiaoshi Robert mechanisms symmetric parallel arrangements, guide beam one end is tightly attached in the front end of each fine tuning screw thread assistant drive device, and rear end is connected by a compact heap and housing screw with fixed platform.In each combination Rou Jiaoshi Robert mechanisms, the bottom end of T-type rigid link is connect by Performance of Right-Angle Flexure Hinge with guide beam, the both sides of T-type rigid link are connected by the identical soft hinge reed of two length and thickness with fixed platform, the present invention uses the flexible hinge of the soft hinge reed with dispersion flexibility and the Performance of Right-Angle Flexure Hinge with concentration flexibility as linear guiding mechanism, far from the soft hinge reed for having 8 flexibilities larger at guide beam in mechanism, the Performance of Right-Angle Flexure Hinge for having 4 flexibilities smaller at guide beam, therefore the mechanism has larger off-axis rigidity ratio, this is passing through low cost, the higher straightness of the mechanism and precision are ensure that when the driver driving of low precision.
Description
Technical field
The invention belongs to the microtechnic fields in advanced manufacture, and in particular to a kind of soft hinge formula parallel connection Roberts of combination
Mechanism.
Background technology
In order to adapt to era development, people have developed various precision positioning mechanisms and micro-displacement mechanism to realize
Sub-micron even nano level plane positioning.Existing flexible micro flat form is mostly 3-RRR types, due to the fortune of micromotion platform
Dynamic input mostly uses the driving of piezoelectric ceramics isoline driver, and output has P sub-attributes.However, 3-RRR flexible micro platforms
Input terminal has R sub-attributes, and under fine motion occasion, P pairs driving R pairs will certainly bring certain error, influence transmission accuracy.If
3-RRR types are changed to 3-PRR types, then P pairs drive P pairs, are used as driving input terminal by flexible linear guiding mechanism, to input terminal
Offset limited, then can improve the precision of positioning.Based on this, the present invention proposes a kind of novel flexible linear machine
Structure --- combine soft hinge formula parallel connection Roberts mechanisms.
Invention content
The purpose of the present invention is being to improve the transmission accuracy of straight-line mechanism, a kind of high off-axis rigidity ratio, high straight line are provided
The soft hinge formula parallel connection Roberts mechanisms of combination of degree.Its technical solution is：
The soft hinge formula parallel connection Roberts mechanisms of combination of the present invention, including：Fixed platform, guide beam, four soft hinge formulas of combination
Robert mechanisms, fine tuning screw thread assistant drive device, compact heap.It is characterized in that the soft hinge formula parallel connection Roberts mechanisms of the combination by
Four identical combination Rou Jiaoshi Robert mechanisms symmetric parallel arrangements, each front end for finely tuning screw thread assistant drive device are tight
It is affixed on guide beam one end, rear end is connected by a compact heap and housing screw with fixed platform.In each soft hinge formula of combination
In Robert mechanisms, the bottom end of T-type rigid link is connect by Performance of Right-Angle Flexure Hinge with guide beam, the both sides of T-type rigid link
It is connected with fixed platform by the identical soft hinge reed of two length and thickness.It can by the adjusting bolt of driving device
To adjust gap and the active force between driving device and guide beam, to realize the soft hinge formula parallel connection Roberts mechanisms of the combination
High-precision fine motion in the straight direction.
The present invention uses the soft hinge reed with dispersion flexibility and the Performance of Right-Angle Flexure Hinge with concentration flexibility as straight line
The flexible hinge of guiding mechanism has 8 flexibilities in mechanism to combine soft hinge formula parallel connection Roberts mechanisms at separate guide beam
Larger soft hinge reed, the Performance of Right-Angle Flexure Hinge for having 4 flexibilities smaller at the guide beam, therefore the mechanism have it is larger from
Axis rigidity ratio, this ensure that the higher straightness of the mechanism and high-precision when the driver by low cost, low precision drives.
Compared with prior art, the present invention having the following advantages that：
The present invention far from the soft hinge reed for having 8 flexibilities larger at guide beam, is having smaller straight of 4 flexibilities at guide beam
Angle flexible hinge, therefore the mechanism has larger off-axis rigidity ratio, ensure that higher straightness and precision.
The soft hinge formula parallel connection Roberts mechanisms of combination that the present invention designs can due to higher off-axis rigidity ratio
It is driven with the driver by low cost, low precision, this advantageously reduces the manufacturing cost of 3-PRR type micromotion platforms.
Description of the drawings
Fig. 1 is the structural schematic diagram for combining soft hinge formula parallel connection Roberts mechanisms of the present invention.
Fig. 2 be the present invention the soft hinge formula parallel connection Roberts mechanisms of combination in the amplification signal of combination Rou Jiaoshi Robert mechanisms
Figure.
Fig. 3 be the present invention the soft hinge formula parallel connection Roberts mechanisms of combination in Performance of Right-Angle Flexure Hinge structure enlargement diagram.
In figure：1- fixed platforms, 2- guide beams, 3- finely tune screw thread assistant drive device, 4- compact heaps, 5- housing screws, 6-
Combine Rou Jiaoshi Robert mechanisms, 7-T type rigid links, the soft hinge reeds of 8-, 9- Performance of Right-Angle Flexure Hinge, the soft hinge reeds of 10-.
Specific implementation mode
For a better understanding of the present invention, the present invention is further described below in conjunction with the accompanying drawings.
It is a kind of parallel institution to combine soft hinge formula parallel connection Roberts mechanisms, and the adjusting bolt by adjusting driving device can
To adjust gap and the active force between driving device and guide beam, the soft hinge formula parallel connection Roberts mechanisms of the combination may be implemented
High-precision fine motion in the straight direction.The soft hinge formula parallel connection Roberts mechanisms of the combination are by four identical soft hinges of combination
Formula Robert mechanisms（6）Symmetric parallel is arranged, each to finely tune screw thread assistant drive device（3）Front end be tightly attached to guide beam（2）One
End, rear end passes through a compact heap（4）And housing screw（5）With fixed platform（1）It is connected.In each soft hinge formula Robert of combination
Mechanism（6）In, T-type rigid link（7）Bottom end pass through Performance of Right-Angle Flexure Hinge（9）With guide beam（2）Connection, T-type rigid link
（7）Both sides pass through the identical soft hinge reed of two length and thickness（8、10）With fixed platform（1）It is connected.
The present invention uses the soft hinge reed with dispersion flexibility and the Performance of Right-Angle Flexure Hinge with concentration flexibility as straight line
The flexible hinge of guiding mechanism has 8 flexibilities in mechanism to combine soft hinge formula parallel connection Roberts mechanisms at separate guide beam
Larger soft hinge reed, the Performance of Right-Angle Flexure Hinge for having 4 flexibilities smaller at the guide beam, therefore the mechanism have it is larger from
Axis rigidity ratio, this ensure that the higher straightness of the mechanism and high-precision when the driver by low cost, low precision drives.
Claims (2)
1. a kind of combination soft hinge formula parallel connection Roberts mechanisms include：Fixed platform（1）, guide beam（2）, four soft hinge formulas of combination
Robert mechanisms（6）, fine tuning screw thread assistant drive device（3）, compact heap（4）, it is characterised in that：The soft hinge formula of the combination is in parallel
Roberts mechanisms are by four identical combination Rou Jiaoshi Robert mechanisms（6）Symmetric parallel is arranged, screw thread pair is each finely tuned
Driving device（3）Front end be tightly attached to guide beam（2）One end, rear end pass through a compact heap（4）And housing screw（5）With fixation
Platform（1）It is connected, in each combination Rou Jiaoshi Robert mechanisms（6）In, T-type rigid link（7）To pass through right angle flexible for bottom end
Hinge（9）With guide beam（2）Connection, T-type rigid link（7）Both sides pass through the identical soft hinge spring of two length and thickness
Piece（8、10）With fixed platform（1）It is connected.
2. according to claim 1, the soft hinge reed is it is characterized in that, the soft hinge reed is that length is identical with thickness
Spring formula thin slice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810341018.6A CN108544472A (en) | 2018-04-17 | 2018-04-17 | A kind of combination soft hinge formula parallel connection Roberts mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810341018.6A CN108544472A (en) | 2018-04-17 | 2018-04-17 | A kind of combination soft hinge formula parallel connection Roberts mechanisms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108544472A true CN108544472A (en) | 2018-09-18 |
Family
ID=63515222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810341018.6A Withdrawn CN108544472A (en) | 2018-04-17 | 2018-04-17 | A kind of combination soft hinge formula parallel connection Roberts mechanisms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108544472A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112099173A (en) * | 2020-09-23 | 2020-12-18 | 湖北三江航天红阳机电有限公司 | Micro-motion optical platform |
| CN113524146A (en) * | 2021-07-28 | 2021-10-22 | 上海大学 | Three-degree-of-freedom parallel mechanical arm with large expansion ratio based on tape spring |
| CN114296322A (en) * | 2021-12-30 | 2022-04-08 | 哈尔滨工业大学 | Quasi-zero rigidity flexible guide structure based on composite structure |
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| CN101710229A (en) * | 2009-12-07 | 2010-05-19 | 天津大学 | Two-translation and one-rotation precision positioning workbench for nanoimprint lithography system |
| CN101776851A (en) * | 2010-01-15 | 2010-07-14 | 天津大学 | Three DOF micro-positioning workbench for nano-imprint lithography system |
| CN104184362A (en) * | 2014-08-18 | 2014-12-03 | 上海交通大学 | Laminated radiation type parallel-serial flexible driver |
| US20160051433A1 (en) * | 2013-04-12 | 2016-02-25 | Sabanci Üniversitesi | A series elastic holonomic mobile platform for upper extremity rehabilitation |
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2018
- 2018-04-17 CN CN201810341018.6A patent/CN108544472A/en not_active Withdrawn
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| CN101710229A (en) * | 2009-12-07 | 2010-05-19 | 天津大学 | Two-translation and one-rotation precision positioning workbench for nanoimprint lithography system |
| CN101776851A (en) * | 2010-01-15 | 2010-07-14 | 天津大学 | Three DOF micro-positioning workbench for nano-imprint lithography system |
| US20160051433A1 (en) * | 2013-04-12 | 2016-02-25 | Sabanci Üniversitesi | A series elastic holonomic mobile platform for upper extremity rehabilitation |
| CN104184362A (en) * | 2014-08-18 | 2014-12-03 | 上海交通大学 | Laminated radiation type parallel-serial flexible driver |
Non-Patent Citations (2)
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| HE LEI等: "The Low Coupling Compliant Straight -Line Mechanisms Structure and Parameter", 《2012 INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE AND INFORMATION PROCESSING (CSIP)》 * |
| 贺磊等: "并联 Ｒoberts 柔性机构及其微定位平台的结构与位移分析", 《机械强度》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112099173A (en) * | 2020-09-23 | 2020-12-18 | 湖北三江航天红阳机电有限公司 | Micro-motion optical platform |
| CN112099173B (en) * | 2020-09-23 | 2022-06-14 | 湖北三江航天红阳机电有限公司 | Micro-motion optical platform |
| CN113524146A (en) * | 2021-07-28 | 2021-10-22 | 上海大学 | Three-degree-of-freedom parallel mechanical arm with large expansion ratio based on tape spring |
| CN113524146B (en) * | 2021-07-28 | 2022-04-22 | 上海大学 | Three-degree-of-freedom parallel mechanical arm with large expansion ratio based on tape spring |
| CN114296322A (en) * | 2021-12-30 | 2022-04-08 | 哈尔滨工业大学 | Quasi-zero rigidity flexible guide structure based on composite structure |
| CN114296322B (en) * | 2021-12-30 | 2022-10-04 | 哈尔滨工业大学 | Quasi-zero rigidity flexible guide structure based on composite structure |
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Application publication date: 20180918 |