CN205614653U - No accompanying movement two changes one and moves parallel mechanism - Google Patents
No accompanying movement two changes one and moves parallel mechanism Download PDFInfo
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- CN205614653U CN205614653U CN201620345841.0U CN201620345841U CN205614653U CN 205614653 U CN205614653 U CN 205614653U CN 201620345841 U CN201620345841 U CN 201620345841U CN 205614653 U CN205614653 U CN 205614653U
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- platform
- revolute pair
- allocates
- moving platform
- subchain
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Abstract
The utility model provides a no accompanying movement two changes one and moves parallel mechanism, it is including allocating the platform, the identical movable branch of three structures of moving the platform and connecting this two platform, above -mentioned three movable branches by one with the continuous revolute pair that allocates of platform allocates, one with move the platform links to each other move the platform revolute pair and be connected one three degree of freedom sphere subchain that allocates a revolute pair with moving the platform revolute pair and constitute, this sphere subchain contains three axis and submits in the revolute pair of a bit, the aforesaid allocates a revolute pair, move the platform revolute pair respectively with the platform allocates, it arranges to move the platform slope, and inclination equals, the axis that allocates a revolute pair intersects in the space a bit with the axis that moves the platform revolute pair. The utility model discloses have two rotational degrees of freedom and a movement freedom, can realize the subsequent rotation of random point in the certain limit of space, can avoid accompanying movement's emergence effectively, bring very big convenience for the motion control of mechanism, have wide application prospect.
Description
Technical field this utility model belongs to robot field, particularly to a kind of parallel institution.
Background technology has the parallel institution of two rotational freedoms and an one-movement-freedom-degree in mechanical industry
Field has a wide range of applications.
In two turn of one traditional shifting parallel institution, the moving platform of mechanism does not has the one-movement-freedom-degree of horizontal direction,
But the central point of moving platform can be with the movement in occurred level direction.This non-self by mechanism of scholars
It is referred to as " associated movement " by the movement on degree direction.The track of mechanism can be demarcated and track by the existence of associated movement
Planning is made troubles, and increases the complexity of control.Therefore, it is not reduced or eliminated by rational design
The associated movement of mechanism is the problem needing when carrying out mechanism's design to solve.
A lot of scholars once carried out particular study for two turn of one associated movement problem moved in parallel institution,
And design some parallel institutions (CN101518898A, CN101497167A) being not accompanied by motion.But
Each branch of these mechanisms is incomplete same, and processing and the maintenance cost of mechanism are higher；And mechanism is dynamic flat
Platform can only realize the rotation put around certain, brings very big inconvenience to the motor control of mechanism.
Summary of the invention the purpose of this utility model is to provide a kind of low cost, processing and assembly difficulty
Low and easily controllable moves parallel institution without associated movement two turn.
This utility model includes three completely identical in structure work of this two platform of fixed platform, moving platform and connection
Dynamic branch, above-mentioned three active branch by a fixed platform revolute pair being connected with fixed platform, one with move
Moving platform revolute pair that platform is connected and connect one three of fixed platform revolute pair and moving platform revolute pair freely
Degree sphere subchain is constituted, and this sphere subchain comprises three axis and intersects at the revolute pair of any and connect revolute pair
Two connecting rods, above-mentioned fixed platform revolute pair, moving platform revolute pair respectively with fixed platform, moving platform tilt cloth
Put, and angle of inclination is equal；The axes intersect of the axis of fixed platform revolute pair and moving platform revolute pair is in space
A bit.Three-degree-of-freedom spherical subchain in above-mentioned every active branch can replace with a ball pair.
This utility model compared with prior art has the advantage that
1, this utility model has two rotational freedoms and an one-movement-freedom-degree, it is possible to achieve around sky
Between the continuous rotation of arbitrfary point in certain limit, the generation of associated movement can be effectively prevented from.
2, three branches are identical, easily manufacture and assembling, and maintenance cost is relatively low.
Accompanying drawing illustrates:
Fig. 1 is the schematic perspective view of this utility model embodiment 1.
Fig. 2 is the schematic perspective view of this utility model embodiment 2.
Detailed description of the invention:
Embodiment 1
In the schematic perspective view moving parallel institution without associated movement two turn shown in Fig. 1, three structures
Identical active branch connects fixed platform 1 and moving platform 2, comprises one and determine in each active branch
Platform revolute pair R1, moving platform revolute pair R2 and a three-degree-of-freedom spherical subchain, this three from
Revolute pair R3 of a bit, revolute pair R4 and revolute pair R5 is intersected at by three axis by degree plane subchain
And connect their connecting rod 4 and connecting rod 5 is constituted；In branch one end of connecting rod 3 by revolute pair R1 with
Fixed platform 1 connects, and the other end of connecting rod 3 is connected with revolute pair R3 of three-degree-of-freedom spherical subchain, connecting rod
One end of 6 is connected with revolute pair R5 of three-degree-of-freedom spherical subchain, and the other end of this connecting rod 6 is by rotating
Secondary R2 is connected with moving platform 2, above-mentioned fixed platform revolute pair R1, moving platform revolute pair R2 respectively with allocate
Platform 1, moving platform 2 are in tilted layout, and angle of inclination is equal；Above-mentioned fixed platform revolute pair R1 and moving platform
The axes intersect of revolute pair R2 is in space a bit.
Embodiment 2
As in figure 2 it is shown, three completely identical in structure active branch connect fixed platform 1 and moving platform 2, often
One end of connecting rod 3 in individual active branch is connected with fixed platform 1 by fixed platform revolute pair R1, this connecting rod
The other end of 3 is connected with one end of connecting rod 6 by ball secondary S1, and the other end of this connecting rod 6 is turned by moving platform
Dynamic secondary R2 is connected with moving platform 2, fixed platform revolute pair R1, moving platform revolute pair R2 respectively with fixed platform 1,
Moving platform 2 is in tilted layout, and angle of inclination is equal；The axis of fixed platform revolute pair R1 turns with moving platform
The axes intersect of dynamic secondary R2 is in space a bit.
Claims (2)
1. without associated movement two turn move a parallel institution, it include fixed platform, moving platform and connection this two
Three completely identical in structure active branch of platform, it is characterised in that: above-mentioned three active branch are by one
Individual fixed platform revolute pair, the moving platform revolute pair being connected with moving platform being connected with fixed platform and being connected
One three-degree-of-freedom spherical subchain of fixed platform revolute pair and moving platform revolute pair is constituted, and this sphere subchain comprises
Three axis intersect at the revolute pair of any and connect two connecting rods of revolute pair, above-mentioned fixed platform revolute pair,
Moving platform revolute pair is in tilted layout with fixed platform, moving platform respectively, and angle of inclination is equal；Fixed platform rotates
Secondary axis and the axes intersect of moving platform revolute pair are in space a bit.
It is the most according to claim 1 a kind of without associated movement two turn shifting parallel institution, it is characterised in that:
Three-degree-of-freedom spherical subchain in described every active branch can replace with a ball pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620345841.0U CN205614653U (en) | 2016-04-22 | 2016-04-22 | No accompanying movement two changes one and moves parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620345841.0U CN205614653U (en) | 2016-04-22 | 2016-04-22 | No accompanying movement two changes one and moves parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205614653U true CN205614653U (en) | 2016-10-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620345841.0U Withdrawn - After Issue CN205614653U (en) | 2016-04-22 | 2016-04-22 | No accompanying movement two changes one and moves parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205614653U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904436A (en) * | 2016-04-22 | 2016-08-31 | 燕山大学 | Associated movement-free two-rotation and one-movement parallel mechanism |
| CN110434840A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of Three Degree Of Freedom broad sense sphere parallel mechanism |
-
2016
- 2016-04-22 CN CN201620345841.0U patent/CN205614653U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904436A (en) * | 2016-04-22 | 2016-08-31 | 燕山大学 | Associated movement-free two-rotation and one-movement parallel mechanism |
| CN110434840A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of Three Degree Of Freedom broad sense sphere parallel mechanism |
| CN110434840B (en) * | 2019-09-16 | 2024-04-02 | 河北工业大学 | Three-degree-of-freedom generalized spherical parallel mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161005 Effective date of abandoning: 20180406 |
|
| AV01 | Patent right actively abandoned |