CN100348378C - Three freedom degrees decoupling sphere parallel mechanism - Google Patents
Three freedom degrees decoupling sphere parallel mechanism Download PDFInfo
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- CN100348378C CN100348378C CNB2006100131018A CN200610013101A CN100348378C CN 100348378 C CN100348378 C CN 100348378C CN B2006100131018 A CNB2006100131018 A CN B2006100131018A CN 200610013101 A CN200610013101 A CN 200610013101A CN 100348378 C CN100348378 C CN 100348378C
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Abstract
The present invention relates to a three-freedom decoupling parallel mechanism which comprises a machine base, a moveable platform, a rotary moving branch chain respectively fixed between the machine base and the moveable platform, and two mobile moving branch chains with the same structure, wherein the rotary moving branched chain is perpendicular to the two mobile moving branch chains, and the rotary moving branch chain comprises a machine base rotary pair, a machine base hook joint, a moving pair and a platform hook joint which are mechanically connected orderly. Each mobile moving branch chain comprises a machine base moving pair, a platform moving pair, a square platform connected with the platform moving pair and a platform rotary pair connected to the square platform, wherein the machine base moving pair and the platform moving pair are connected by a small connecting rod. The two mobile moving branch chains have the same structure and are provided with the common square platform and the common platform rotary pair, the two mobile moving branch chains with the same structure are arranged vertically and respectively arranged on the two orthogonal lateral surfaces of the same square platform, and the two mobile moving branch chains with the same structure are connected with the moveable platform by the common platform rotary pair. The parallel mechanism of the present invention is provided with a moveable platform which can continuously carry out rotation, and can carry out decoupling under the three-freedom condition; the present invention has the characteristics of simple structure, easy control and calibration, high precision, etc.
Description
Technical field
The present invention relates to the parallel institution in mechanics field, be specially a kind of three freedom degrees decoupling sphere parallel mechanism, it has back rotation platform continuously, and international Patent classificating number intends being Int.Cl
7B25J 9/08.
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 operating accuracy.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.In addition, the working space of parallel institution is less relatively, how to improve its space, and especially turning round working space also is an important difficult problem.
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 and 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 Chinese patent literature 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 this mechanism is except initial position, other position is still coupling, in other words conj.or perhaps not decoupling zero, so this mechanism design belongs to instantaneous decoupling zero; Again for example, Chinese patent literature ZL00100198.1, CN 00100197.3, CN00100196.5, " 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 CN99121020.4 proposes respectively and CN1377757A propose, the parallel institution of these bibliographical informations also is only applicable to the fine motion field, reason is that the decoupling zero of these mechanisms only is similar to, increasing along with working space, the degree of coupling between its each driver element also can constantly increase, and makes mechanism become not decoupling zero gradually.For the approximate decoupling zero relation between the input and output that keep this parallel institution power, the real work space of these mechanism design only is several microns, so these mechanisms still only have the characteristics of instantaneous decoupling zero.The three freedom degrees decoupling sphere parallel mechanism that the present invention proposes has the notable feature of back rotation platform continuously, and the document with this feature has not yet to see report.
Summary of the invention
At the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is: a kind of three freedom degrees decoupling sphere parallel mechanism is provided, and it has can continuous rotating moving platform, and unconditional decoupling zero under Three Degree Of Freedom, 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 three freedom degrees decoupling sphere parallel mechanism, comprise support and moving platform, it is characterized in that between described support and moving platform, being fixed with respectively a vertical each other gyration side chain and two moving movement side chains that structure is identical; Described gyration side chain comprises the support rotary pair of mechanical connection successively, support Hooke's hinge, moving sets and platform Hooke's hinge; Described support rotary pair and support are connected, and intersect at the center of its axis and support Hooke's hinge, and all the time perpendicular to an axis of rotation of support Hooke's hinge; The outside connecting rod of described moving sets and inside connecting rod are connected with support Hooke's hinge and platform Hooke's hinge respectively, and its center line passes through the center of support Hooke's hinge and platform Hooke's hinge respectively; Described platform Hooke's hinge is connected by a side of connecting rod and described moving platform, and the axis of connecting rod is parallel with the axis of described support rotary pair all the time, and intersects vertically with two axiss of rotation of platform Hooke's hinge; Described moving movement side chain comprises support moving sets and the platform moving sets that couples together with small rod, the platform rotary pair that connects on a Fang Tai who is connected with the platform moving sets and the square platform; The direction of motion of support moving sets and platform moving sets is vertical mutually, the support moving sets is installed on the support, on the side of the platform moving sets side of being installed in platform, and the platform rotary pair is installed on another side of described side's platform, and it is make the axis of platform rotary pair vertical with the platform moving sets, and coaxial with described connecting rod with described support moving sets; The structure of described two moving movement side chains is identical, and have common square platform and a platform rotary pair, two identical moving movement side chains of structure are arranged vertically mutually, two support moving sets that are them are vertical mutually, two platform moving sets are vertical mutually, and be installed in respectively on orthogonal two sides of same side's platform, two identical moving movement side chains of structure are connected with moving platform by common platform rotary pair; Two identical moving movement side chains of structure are arranged vertically with described gyration side chain again simultaneously.
Compared with prior art, three freedom degrees decoupling sphere parallel mechanism of the present invention has designed a vertical each other gyration side chain and two moving movement side chains that structure is identical, they move under Three Degree Of Freedom is decoupling zero, and be full decoupled, have back rotation platform continuously simultaneously, the present invention in other words is a kind of three freedom degrees decoupling sphere parallel mechanism of back rotation platform continuously that has.This structural design of the present invention is degeneracy connectionization motion of mechanism model greatly, thus for the accurate control of mechanism and demarcation brought may and convenient, be convenient to industrial implementation and use.Simultaneously,, therefore can increase the revolution working space of moving platform greatly, also will inevitably expand the application of parallel institution of the present invention because the described moving platform of parallel institution can turn round continuously.
Description of drawings
Fig. 1 has continuously the structural representation of a kind of embodiment of three freedom degrees decoupling sphere parallel mechanism of back rotation platform for the present invention;
Fig. 2 has continuously the structural representation of a kind of embodiment of the described gyration side chain 2 of three freedom degrees decoupling sphere parallel mechanism of back rotation platform for the present invention;
Fig. 3 has continuously the structural representation of a kind of embodiment of the described moving movement side chain 3 of three freedom degrees decoupling sphere parallel mechanism of back rotation platform for the present invention.
Fig. 4 has continuously the structural representation of a kind of embodiment of the described moving movement side chain 3 ' of three freedom degrees decoupling sphere parallel mechanism of back rotation platform for the present invention.
The specific embodiment
Of the present invention have continuously the three freedom degrees decoupling sphere parallel mechanism of back rotation platform (hereinafter to be referred as parallel institution, referring to Fig. 1), comprise support 1 and moving platform 4 and be connected in support 1 respectively and moving platform 4 between a vertical each other gyration side chain 2 and two moving movement side chains 3 and 3 ' that structure is identical; Described gyration side chain 2 (referring to Fig. 2) comprises the support rotary pair 21 of mechanical connection successively, support Hooke's hinge 23, moving sets 25 and platform Hooke's hinge 27; Described support rotary pair 21 is connected with support 1, and the center of its axis and support Hooke's hinge 23 is crossing, and all the time perpendicular to an axis of rotation of support Hooke's hinge 23; The outside connecting rod 24 of described moving sets 25 and inside connecting rod 26 are connected with support Hooke's hinge 23 and platform Hooke's hinge 27 respectively, and its center line passes through the center of support Hooke's hinge 23 and platform Hooke's hinge 27 respectively; Described platform Hooke's hinge 27 is connected by connecting rod 28 side with described moving platform 4, and the axis of connecting rod 28 is parallel with the axis of described support rotary pair 21 all the time, and intersects vertically with two axiss of rotation of platform Hooke's hinge 27; Described moving movement side chain 3 (referring to Fig. 3) comprises support moving sets 31 and the platform moving sets 33 that couples together with small rod 32, a square platform 34 that is connected with platform moving sets 33 and the platform rotary pair 35 that upward connects thereof; The direction of motion of support moving sets 31 and platform moving sets 33 is vertical mutually, support moving sets 31 is installed on the support 1, on the side of platform moving sets 33 side's of being installed in platforms 34, and platform rotary pair 35 is installed on another side of described side's platform 34, and it is make the axis of platform rotary pair 35 vertical with platform moving sets 33, and coaxial with described connecting rod 28 with described support moving sets 31; The structure of described moving movement side chain 3 ' (referring to Fig. 1,4) is identical with moving movement side chain 3, and have common square platform 34 and a platform rotary pair 35, comprise the support moving sets 31 ' and the platform moving sets 33 ' that couple together with small rod 32 ' simultaneously, the direction of motion of support moving sets 31 ' and platform moving sets 33 ' is vertical mutually, and support moving sets 31 ' is installed on the support 1; Two identical moving movement side chains 3 and 3 ' of structure are arranged vertically mutually, two support moving sets 31 that are them are vertical mutually with 31 ', two platform moving sets 33 are vertical mutually with 33 ', and be installed in respectively on same side's platform 34 orthogonal two sides, two identical moving movement side chains 3 of structure are connected with moving platform 4 by common platform rotary pair 35 with 3 '; Two identical moving movement side chains 3 and 3 ' of structure are arranged vertically with described gyration side chain 2 again simultaneously, i.e. the support rotary pair 21 of movement branched chain 2 and support moving sets 31 vertical with 31 ' (referring to Fig. 1).
The shape of cross section of the described outside connecting rod 24 of parallel institution of the present invention, inside connecting rod 26 and small rod 32 is not limited, and can be given square other shapes in addition of embodiment, for example circle, triangle, hexagon, spline shape etc.
The operation principle of parallel institution of the present invention is as follows: two support moving sets 31 of the support rotary pair 21 of the described gyration side chain 2 of parallel institution of the present invention and the moving movement side chain 3 of described two same structures and 3 ' and 31 ' are the main motion pair, can be by motor-driven.When independent driving support rotary pair 21, moving platform 4 will be around the axis rotation of the rotating shaft connecting rod 28 that is parallel to support rotary pair 21 axis, and can not have interference along a direction rotation continuously; When distinguishing any one that drives separately in described two support moving sets 31 and 31 ', moving platform 4 will be respectively along two orthogonal directions, it is the direction of motion translation of support moving sets 31 and 31 ', its translation direction is vertical with the pivot center of described moving platform 4, and the driving of each translation and another one moving movement side chain 3 or 3 ' is irrelevant, and is also irrelevant with the driving of gyration side chain 2 simultaneously.Therefore, during the independent driving of each movement branched chain (comprising gyration side chain 2 and two moving movement side chains 3 and 3 ' that structure is identical), all can make moving platform 4 only do corresponding motion, and it is irrelevant with the driving of two other movement branched chain, thereby two translations and a rotation of moving platform 4 be decoupling zero, and be unconditional decoupling zero.
Parallel institution of the present invention is not addressed is applicable to prior art.
The outstanding advantage of parallel institution embodiment design of the present invention is: simple in structure, easy to manufacture, dimension is supported convenient, is easy to industrializing implementation.
Claims (2)
1. a three freedom degrees decoupling sphere parallel mechanism comprises support and moving platform, it is characterized in that being fixed with respectively between described support and moving platform a vertical each other gyration side chain and two moving movement side chains that structure is identical; Described gyration side chain comprises the support rotary pair of mechanical connection successively, support Hooke's hinge, moving sets and platform Hooke's hinge; Described support rotary pair and support are connected, and intersect at the center of its axis and support Hooke's hinge, and all the time perpendicular to an axis of rotation of support Hooke's hinge; The outside connecting rod of described moving sets and inside connecting rod are connected with support Hooke's hinge and platform Hooke's hinge respectively, and its center line passes through the center of support Hooke's hinge and platform Hooke's hinge respectively; Described platform Hooke's hinge is connected by a side of connecting rod and described moving platform, and the axis of connecting rod is parallel with the axis of described support rotary pair all the time, and intersects vertically with two axiss of rotation of platform Hooke's hinge; Described moving movement side chain comprises support moving sets and the platform moving sets that couples together with small rod, the platform rotary pair that connects on a Fang Tai who is connected with the platform moving sets and the square platform; The direction of motion of support moving sets and platform moving sets is vertical mutually, the support moving sets is installed on the support, on the side of the platform moving sets side of being installed in platform, and the platform rotary pair is installed on another side of described side's platform, and it is make the axis of platform rotary pair vertical with the platform moving sets, and coaxial with described connecting rod with described support moving sets; The structure of described two moving movement side chains is identical, and have common square platform and a platform rotary pair, two identical moving movement side chains of structure are arranged vertically mutually, two support moving sets that are them are vertical mutually, two platform moving sets are vertical mutually, and be installed in respectively on orthogonal two sides of same side's platform, two identical moving movement side chains of structure are connected with moving platform by common platform rotary pair; Two identical moving movement side chains of structure are arranged vertically with described gyration side chain again simultaneously.
2. three freedom degrees decoupling sphere parallel mechanism according to claim 1, the shape of cross section that it is characterized in that described outside connecting rod, inside connecting rod and small rod can be square, circular, triangle, hexagon or spline shape.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100131018A CN100348378C (en) | 2006-01-24 | 2006-01-24 | Three freedom degrees decoupling sphere parallel mechanism |
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| CNB2006100131018A CN100348378C (en) | 2006-01-24 | 2006-01-24 | Three freedom degrees decoupling sphere parallel mechanism |
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| CN1803411A CN1803411A (en) | 2006-07-19 |
| CN100348378C true CN100348378C (en) | 2007-11-14 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101934521B (en) * | 2010-09-07 | 2011-08-17 | 上海工程技术大学 | Decoupled tri-rotation parallel mechanism |
| CN102145457B (en) * | 2011-02-11 | 2012-08-08 | 上海工程技术大学 | Three-rotational freedom parallel mechanism for virtual axis machine tool and robot |
| CN102069393B (en) * | 2011-02-18 | 2012-02-15 | 上海工程技术大学 | Three-degree-of-freedom parallel mechanism for virtual-axis machine tool and robot |
| CN102303313B (en) * | 2011-08-16 | 2013-12-18 | 河南科技大学 | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism |
| CN102431027B (en) * | 2011-10-30 | 2014-04-16 | 燕山大学 | Parallel robot mechanism with spatial three degrees of freedom |
| CN103009380B (en) * | 2012-12-31 | 2014-11-05 | 北京交通大学 | Parallel mechanism with movement bifurcation characteristic |
| CN108638028B (en) * | 2018-04-19 | 2020-09-22 | 西安工程大学 | Parallel mechanism with two motion modes of 2R1T and 3R |
| CN116766142B (en) * | 2023-08-23 | 2024-02-06 | 中国科学院长春光学精密机械与物理研究所 | Multi-degree-of-freedom parallel adjustment platform |
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| US5553509A (en) * | 1993-05-20 | 1996-09-10 | Somes; Steven D. | Three degree of freedom robotic manipulator constructed from rotary drives |
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| US20040099081A1 (en) * | 2000-05-18 | 2004-05-27 | Alain Riwan | Robotic arm |
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| CN1586805A (en) * | 2004-10-14 | 2005-03-02 | 江苏工业学院 | Two translation-rotary parallel connection mechanism for imaginary axis digital control machine tool and robot |
| CN1715008A (en) * | 2005-07-06 | 2006-01-04 | 河北工业大学 | Three freedom decoupling parallel robot mechanism |
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2006
- 2006-01-24 CN CNB2006100131018A patent/CN100348378C/en not_active Expired - Fee Related
Patent Citations (9)
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|---|---|---|---|---|
| US5553509A (en) * | 1993-05-20 | 1996-09-10 | Somes; Steven D. | Three degree of freedom robotic manipulator constructed from rotary drives |
| JPH09295295A (en) * | 1996-05-07 | 1997-11-18 | Nachi Fujikoshi Corp | Polar coordinate type robot |
| JPH11207549A (en) * | 1997-11-05 | 1999-08-03 | Jongwon Kim | Composite process type machining center and parallel mechanism structure thereof |
| US20040099081A1 (en) * | 2000-05-18 | 2004-05-27 | Alain Riwan | Robotic arm |
| CN1377757A (en) * | 2002-05-23 | 2002-11-06 | 河北工业大学 | Recombineable modular 3-6 freedom structure decoupling parallel micro moving robot |
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| CN1715008A (en) * | 2005-07-06 | 2006-01-04 | 河北工业大学 | Three freedom decoupling parallel robot mechanism |
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Assignee: SEW- industrial equipment (Tianjin) Co., Ltd. Assignor: Hebei University of Technology Contract fulfillment period: 2007.12.1 to 2014.12.31 contract change Contract record no.: 2008990001397 Denomination of invention: Three freedom degrees decoupling sphere parallel mechanism Granted publication date: 20071114 License type: Exclusive license Record date: 2008.12.9 |
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