CN100348376C - Two-free-degree decoupling spherical parallel mechanism - Google Patents

Two-free-degree decoupling spherical parallel mechanism Download PDF

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Publication number
CN100348376C
CN100348376C CNB2005101221784A CN200510122178A CN100348376C CN 100348376 C CN100348376 C CN 100348376C CN B2005101221784 A CNB2005101221784 A CN B2005101221784A CN 200510122178 A CN200510122178 A CN 200510122178A CN 100348376 C CN100348376 C CN 100348376C
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rotary pair
rotary
parallel
connecting rod
axis
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CN1775487A (en
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李为民
张建军
孙建广
石晓明
张顺心
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Hebei University of Technology
Hebei Polytechnic University
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Hebei University of Technology
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Abstract

The present invention relates to a two-freedom decoupling spherical face parallel mechanism, which comprises a machine base, a moveable platform, and a first and a second moving branched chains which are respectively and fixedly connected between the machine base and the moveable platform, wherein the first moving branched chain comprises a parallelogram mechanism composed of connecting rods L1, L2, L3, L4 and four axial line space parallel rotary pairs R1, R2, R3, R4 connected with the connecting rods, three axial line space parallel rotary pairs R5, R6, R7, one axial line space vertical rotary pair R8, connecting rods L5, L6, L7 correspondingly connected with the three axial line space parallel rotary pairs R5, R6, R7, and a connecting rod L8 of which one end is connected with the rotary pair R8. The second moving branched chain comprises two rotary pairs R9, R10 of which the axial lines are in perpendicular mode, and a connecting rod L9 connected with the two rotary pairs R9, R10; the rotary pair R5 is fixedly connected to the connecting rod L4, and the axial line of the rotary pair R5 is perpendicular to the axial lines of the rotary pairs R1, R2, R3, R4 and is parallel to the axial line of a rotary pair R9. One end of the first moving branched chain is connected with the moveable platform by the connecting rod L8, the axial line of the rotary pair R8 is perpendicular to the rotary pairs R5, R6, R7 and is parallel to the axial line of the rotary pair R10, and the other end of the first moving branched chain is arranged in the machine base by the rotary pair R1. One end of the second moving branched chain is connected with the moveable platform by the rotary pair R10, the other end of the second moving branched chain is arranged in the machine base by a rotary pair R9, and the axial lines of the rotary pair R1 and the rotary pair R9 are in perpendicular mode.

Description

Two-free-degree decoupling spherical parallel mechanism
Technical field
The present invention relates to the parallel institution in mechanics field, be specially a kind of can be under two degrees of freedom the sphere parallel mechanism of unconditional decoupling zero, international Patent classificating number intends being Int.Cl 7B25J9/08.
Background technology
Parallel institution is widely used in fields such as heavily loaded analog machine, robot, Digit Control Machine Tool, sensor and microoperation.Yet, be coupled between each driver element of parallel institution, be the whole output stage of parallel institution along any one party to move all be that moving of all driver elements is synthetic, and be non-linear between the motion of each driver element and the parallel institution mass motion (i.e. input and export).This characteristic causes parallel institution control complicated, demarcates difficulty, and has restricted the raising of precision.Therefore, how to realize the decoupling zero of parallel institution, simplifying its control and demarcation, improve kinematic accuracy, be a difficulty and be imbued with challenging problem always.
For the clear parallel institution decoupling problem of describing, at first be described as follows the definition of notion:
Decoupling zero:, then be referred to as decoupling zero if parallel institution only depends on a direction driver element action in the translation or the rotation of certain direction;
Unconditional decoupling zero: if parallel institution at an arbitrary position with all be decoupling zero under the attitude, then be referred to as unconditional decoupling zero;
The decoupling zero of having ready conditions: if parallel institution at an arbitrary position, be decoupling zero under the particular pose, then be referred to as the decoupling zero of having ready conditions;
Instantaneous decoupling zero:, then be referred to as instantaneous decoupling zero under ad-hoc location, particular pose if parallel institution is decoupling zero only.
At present, more existing achievements aspect parallel institution decoupling zero research, for example, " machine-tool with 6-freedom virtual axle " that CN1261018A proposes, realize the decoupling zero that position, space (being initial position) is located, and therefore reduced the degree of coupling of complete machine, but except that initial position, other position is still coupling, so this design is instantaneous decoupling zero; Again for example, " the reconfigurable modularization 3-6 free degree structure decoupling parallel jiggle robot " that " three, four, five, six degree of freedom structure decoupling parallel jiggle robot " that Chinese patent literature ZL00100198.1, CN00100197.3, CN00100196.5, CN99121020.4 propose respectively and CN1377757A propose, be only applicable to the fine motion field, reason is that the decoupling zero of these mechanisms is similar to, and along with the increasing of working space, the degree of coupling between each driver element also can increase.In order to keep the approximate decoupling zero relation between the input and output, this design real work space only is several microns, therefore still has the characteristics of instantaneous decoupling zero.For the parallel institution that only has rotational freedom, decoupling zero is then difficult more.For example, adopted three-degree-of-freedom spherical mechanism in " based on the sun tracker of spherical mechanism " of Chinese patent literature CN03258423.7 bibliographical information, but its three rotations are coupled fully, promptly can not decoupling zero; The two degrees of freedom spherical mechanism that U.S. Pat 005966991A proposes also can only be in the instantaneous decoupling zero of initial position, and other positions can not decoupling zero.Relevant two degrees of freedom spherical mechanism document that can decoupling zero is invented into not retrieving as yet at present.
Summary of the invention
At the deficiencies in the prior art, technical problem solved by the invention is: a kind of two-free-degree decoupling spherical parallel mechanism is provided, and it can accomplish under the two degrees of freedom unconditional decoupling zero, and have simple in structure, control and demarcate easily characteristics such as precision height.
The technical scheme that the present invention solve the technical problem is:
Design a kind of two-free-degree decoupling spherical parallel mechanism, comprise support and moving platform and be connected in first movement branched chain and second movement branched chain between support and the moving platform respectively; Described first movement branched chain comprises: by connecting rod L 1, connecting rod L 2, connecting rod L 3, connecting rod L 4Reach rotary pair R by four axis space parallels of its connection 1, rotary pair R 2, rotary pair R 3, rotary pair R 4And the parallel-crank mechanism that constitutes, the rotary pair R of three axis space parallels 5, rotary pair R 6, rotary pair R 7With an axis and described rotary pair R 5, rotary pair R 6, rotary pair R 7The rotary pair R of spatial vertical 8And the corresponding connecting rod L that connects them 5, connecting rod L 6, connecting rod L 7With an end and described rotary pair R 8The connecting rod L that connects 8Described second movement branched chain comprises: two rotary pairs of axis normal, i.e. rotary pair R 9With rotary pair R 10And the connecting rod L that connects them 9Described rotary pair R 5Be connected in the connecting rod L of described parallel-crank mechanism 4On, and rotary pair R 5Axis and the rotary pair R of parallel-crank mechanism 1, rotary pair R 2, rotary pair R 3, rotary pair R 4Axis normal, and with described rotary pair R 9Axis is parallel; One end of described first movement branched chain by with rotary pair R 8The connecting rod L that connects 8The other end be connected rotary pair R with moving platform 8Axis and the parallel rotary pair R of described three axis 5, rotary pair R 6, rotary pair R 7Vertically, and with described rotary pair R 10Axis is parallel; And the other end is by described rotary pair R 1Be installed on the end of support; One end of described second movement branched chain is by rotary pair R 10Be connected with moving platform, the other end is by described rotary pair R 9Be installed on the other end of support; Described rotary pair R 1With rotary pair R 9Axis vertical mutually.
Compared with prior art, in the two-free-degree decoupling spherical parallel mechanism of the present invention, the independent driving of described each side chain can make that all moving platform only rotates around corresponding axis, and it is irrelevant with the driver element of another one side chain, thereby can realize unconditional decoupling zero, and simplified kinematical equation, make mechanism kinematic control and demarcation easily, precision improves, and simple in structure.
Description of drawings
Fig. 1 is the general structure schematic diagram of a kind of embodiment of two-free-degree decoupling spherical parallel mechanism of the present invention;
Fig. 2 is the structural representation of a kind of embodiment of the described movement branched chain 2 of two-free-degree decoupling spherical parallel mechanism of the present invention;
Fig. 3 is the structural representation of a kind of embodiment of the described movement branched chain 4 of two-free-degree decoupling spherical parallel mechanism of the present invention;
Fig. 4 is the structural representation of the another kind of embodiment of the described movement branched chain 2 of two-free-degree decoupling spherical parallel mechanism of the present invention.
The specific embodiment
Further narrate the present invention below in conjunction with embodiment and accompanying drawing thereof, but it does not limit claim of the present invention.
Two-free-degree decoupling spherical parallel mechanism of the present invention (referring to Fig. 1-3), comprise support 1 and moving platform 3 and be connected in support 1 respectively and moving platform 3 between first movement branched chain 2 and second movement branched chain 4; Described first movement branched chain 2 comprises: by connecting rod L 1(being labeled as 22a among the figure, down together), connecting rod L 222b, connecting rod L 322c, connecting rod L 422d reaches the rotary pair R by four axis space parallels of its connection 121a, rotary pair R 221b, rotary pair R 321c, rotary pair R 421d and the parallel-crank mechanism that constitutes, the rotary pair R of three axis space parallels 523a, rotary pair R 623b, rotary pair R 7The rotary pair R of a 23c and an axis spatial vertical 825 and the corresponding connecting rod L that connects them 524a, connecting rod L 624b, connecting rod L 7A 24c and an end and described rotary pair R 8The 25 connecting rod L that connect 826; Described second movement branched chain 4 comprises: two rotary pair R of axis normal 941, R 1043 and the connecting rod L that connects them 942; Described rotary pair R 523a is connected in the connecting rod L of described parallel-crank mechanism 4On the 22d, and rotary pair R 5The rotary pair R of the axis of 23a and parallel-crank mechanism 121a, rotary pair R 221b, rotary pair R 321c, rotary pair R 4The 21d axis normal, and with described rotary pair R 941 axis are parallel; One end of described first movement branched chain 2 by with rotary pair R 8The 25 connecting rod L that connect 826 the other end is connected with moving platform 3, rotary pair R 825 axis and the parallel rotary pair R of described three axis 523a, rotary pair R 623b, rotary pair R 723c is vertical, and with described rotary pair R 1043 axis are parallel; And the other end is by described rotary pair R 121a is installed on the end of support 1; One end of described second movement branched chain 4 is by rotary pair R 1043 are connected with moving platform 3, and the other end is by described rotary pair R 941 are installed on the other end of support 1; Described rotary pair R 121a and rotary pair R 941 axis is vertical mutually.
In two-free-degree decoupling spherical parallel mechanism of the present invention, the planform of described moving platform 3, support 1 is not limited.Under the situation that does not influence described institution freedom motion, their planform can be arbitrarily.
According to original creation of the present invention design, two-free-degree decoupling spherical parallel mechanism of the present invention is no matter under any attitude, when only driving rotary pair R 941 o'clock, 3 of moving platforms were around fixed axis Z 1Also be rotary pair R 941 axis rotation, and angular velocity of rotation identical (referring to Fig. 1-3); Equally, as the rotary pair R that only drives parallel-crank mechanism 1During 21a, moving platform 3 is a moving axle Z also 2, also be rotary pair R 1043 axis rotation.Because the independent driving of described each movement branched chain makes moving platform 3 only rotate around corresponding axis, and irrelevant with the driving of another one movement branched chain, thereby moving platform 3 is along axis Z 1And Z 2Rotation be decoupling zero, and be unconditional decoupling zero.
The one big characteristics of two-free-degree decoupling spherical parallel mechanism the foregoing description of the present invention are, this mechanism all adopts rotary pair, and the outstanding advantage that it brings is: can realize the at a high speed unconditional decoupling zero running of two degrees of freedom.
Another embodiment of two-free-degree decoupling spherical parallel mechanism of the present invention is: the parallel-crank mechanism in described first movement branched chain 2 of the foregoing description can replace (referring to Fig. 4) by moving sets 21, and the direction of motion of moving sets 21 and the parallel rotary pair R of described three axis 523a, rotary pair R 623b, rotary pair R 7The 23c axis direction is parallel, also with described rotary pair R 941 axis directions are parallel, and moving sets 21 is installed on the support 1, and moving sets 21 is by connecting rod L 1022 with described rotary pair R 523a connects.The two-free-degree decoupling spherical parallel mechanism of present embodiment can be realized two freedom movement decoupling equally, promptly no matter under any attitude (referring to Fig. 1,4), when only driving rotary pair R 941,3 of moving platforms are around fixed axis Z 1Also be rotary pair R 941 axis rotation, and angular velocity of rotation is identical; Equally, when only driving moving sets 21, moving platform 3 is a moving axle Z also 2, also be rotary pair R 1043 axis rotation.Because the independent driving of each movement branched chain makes moving platform 3 only rotate around corresponding axis, and irrelevant with the driving of another one movement branched chain, thereby moving platform 3 is along axis Z 1And Z 2Rotation be decoupling zero, and be unconditional decoupling zero.The outstanding advantage of present embodiment design is: simple in structure, easy to manufacture, dimension is supported convenient.
The present invention does not address part and is applicable to prior art.
Two-free-degree decoupling spherical parallel mechanism of the present invention because motion is full decoupled, thereby the kinematics model that can simplify the internal structure of an organization, thus for the accurate control of mechanism and demarcation brought may and convenient, be convenient to the industrial implementation application.

Claims (2)

1. two-free-degree decoupling spherical parallel mechanism, comprise support (1) and moving platform (3) and be connected in support (1) respectively and moving platform (3) between first movement branched chain (2) and second movement branched chain (4); Described first movement branched chain (2) comprising: by connecting rod L 1(22a), connecting rod L 2(22b), connecting rod L 3(22c), connecting rod L 4(22d) and by the rotary pair R of four axis space parallels of its connection 1(21a), rotary pair R 2(21b), rotary pair R 3(21c), rotary pair R 4(21d) parallel-crank mechanism that constitutes, the rotary pair R of three axis space parallels 5(23a), rotary pair R 6(23b), rotary pair R 7(23c) with an axis and described rotary pair R 5(23a), rotary pair R 6(23b), rotary pair R 7(23c) the rotary pair R of spatial vertical 8(25) and the corresponding connecting rod L that connects them 5(24a), connecting rod L 6(24b), connecting rod L 7(24c) with an end and described rotary pair R 8(25) the connecting rod L of Lian Jieing 8(26); Described second movement branched chain (4) comprising: two rotary pairs of axis normal, i.e. rotary pair R 9(41) and rotary pair R 10(43) and the connecting rod L that connects them 9(42); Described rotary pair R 5(23a) be connected in the connecting rod L of described parallel-crank mechanism 4(22d), and rotary pair R 5The rotary pair R of axis (23a) and parallel-crank mechanism 1(21a), rotary pair R 2(21b), rotary pair R 3(21c), rotary pair R 4(21d) axis normal, and with described rotary pair R 9(41) axis is parallel; One end of described first movement branched chain (2) by with rotary pair R 8(25) the connecting rod L of Lian Jieing 8(26) the other end is connected rotary pair R with moving platform (3) 8(25) axis and the parallel rotary pair R of described three axis 5(23a), rotary pair R 6(23b), rotary pair R 7(23c) vertical, and with described rotary pair R 10(43) axis is parallel; And the other end is by described rotary pair R 1(21a) be installed on the end of support (1); One end of described second movement branched chain (4) is by rotary pair R 10(43) be connected with moving platform (3), the other end is by described rotary pair R 9(41) be installed on the other end of support (1); Described rotary pair R 1(21a) with rotary pair R 9(41) axis is vertical mutually.
2. two-free-degree decoupling spherical parallel mechanism according to claim 1, it is characterized in that: the parallel-crank mechanism in described first movement branched chain (2) is replaced by moving sets (21), and the direction of motion of moving sets (21) and the parallel rotary pair R of described three axis 5(23a), rotary pair R 6(23b), rotary pair R 7(23c) axis direction is parallel, also with described rotary pair R 9(41) axis direction is parallel, and moving sets (21) is installed on the support (1), and moving sets (21) is by connecting rod L 10(22) with described rotary pair R 5(23a) connect.
CNB2005101221784A 2005-12-06 2005-12-06 Two-free-degree decoupling spherical parallel mechanism Expired - Fee Related CN100348376C (en)

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CN101439515B (en) * 2008-12-25 2010-08-18 上海交通大学 Parallel four-bar type structure decoupling six-dimension force feedback device
CN101791798B (en) * 2010-03-27 2011-05-25 燕山大学 Two-freedom rotary decoupling parallel robot mechanism
CN103624773B (en) * 2013-12-05 2015-06-10 燕山大学 Two-degree-of-freedom rotating parallel mechanism
CN104942800B (en) * 2015-07-02 2017-03-22 上海交通大学 Three-translation one-rotation four-freedom rotation and translation complete decoupling parallel mechanism
CN105252525A (en) * 2015-11-30 2016-01-20 中国科学院光电技术研究所 Two-degree-of-freedom spherical parallel mechanism
CN106426109B (en) * 2016-11-25 2018-06-15 河北工业大学 The decoupling type two-freedom-degree parallel mechanism of whole world face working space can be achieved
CN107351059A (en) * 2017-06-09 2017-11-17 深圳先进技术研究院 A kind of parallel institution of two-free-degree decoupling
US11458614B2 (en) 2017-06-09 2022-10-04 Shenzhen Institutes Of Advanced Technology 2 degree-of-freedoms decoupling parallel mechanism
CN112192552B (en) * 2020-10-30 2021-08-27 燕山大学 Spatial spherical two-degree-of-freedom parallel mechanism
CN114668629B (en) * 2022-04-22 2024-01-12 河北工业大学 Four-degree-of-freedom ankle joint rehabilitation parallel mechanism with closed chain of children

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US5966991A (en) * 1997-04-23 1999-10-19 Universite Laval Two degree-of-freedom spherical orienting device
CN1546286A (en) * 2003-12-15 2004-11-17 河北工业大学 Rotation pair combination unit and motion decoupling parallel mechanism formed thereby
WO2004106011A1 (en) * 2003-05-30 2004-12-09 Matteo Zoppi Armilleye: a three degree- of-freedom spherical parallel mechanism
CN1631612A (en) * 2005-01-04 2005-06-29 浙江理工大学 Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5966991A (en) * 1997-04-23 1999-10-19 Universite Laval Two degree-of-freedom spherical orienting device
WO2004106011A1 (en) * 2003-05-30 2004-12-09 Matteo Zoppi Armilleye: a three degree- of-freedom spherical parallel mechanism
CN1546286A (en) * 2003-12-15 2004-11-17 河北工业大学 Rotation pair combination unit and motion decoupling parallel mechanism formed thereby
CN1631612A (en) * 2005-01-04 2005-06-29 浙江理工大学 Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide

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