CN100402245C - Tri-translational freedom-degree parallel mechanism only containing revolving pair - Google Patents
Tri-translational freedom-degree parallel mechanism only containing revolving pair Download PDFInfo
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- CN100402245C CN100402245C CNB2006100502107A CN200610050210A CN100402245C CN 100402245 C CN100402245 C CN 100402245C CN B2006100502107 A CNB2006100502107 A CN B2006100502107A CN 200610050210 A CN200610050210 A CN 200610050210A CN 100402245 C CN100402245 C CN 100402245C
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- revolute pair
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Abstract
The present invention relates to a tri-translational freedom parallel mechanism only with a revolving pair, which comprises a base and a moveable platform, wherein the base is parallel to the moveable platform, and the base is provided with four columns which are perpendicular to the base. The four columns are parallel to each other, the four columns are respectively provided with rotary servomotors, and the output shaft of each rotary servomotor is respectively connected with one screw rod. The moveable platform is connected with the screw rod by four branch chains which form central symmetry with the center line of the moveable platform, and the four branch chains only have revolving pairs. The present invention has the advantages that 1, the movable platform is stable and parallel to the base all the time, and the space singularity of a parallel mechanism is eliminated at a certain extent; 2, the present invention only has revolving pairs to avoid the hard determination and difficult compensation of the gap between ball hinges; 3 the branch chains are weakly coupled, the decoupling in the control process is easy to realize, and the control difficulty of a parallel mechanism is reduced.
Description
(1) technical field
The invention belongs to robot and mechanical manufacturing field, be specifically related to a kind of three translation freedoms parallel institution.
(2) background technology
In recent years, spatial parallel device people has caused the extensive interest of Chinese scholars.With serial machine physiognomy ratio, parallel robot has that rigidity is big, load is little from anharmonic ratio height, inertia, and site error such as does not accumulate at characteristics, and in motion simulations such as aircraft, car steerings, technical fields such as NC machining, microsensor obtain extensive use.Space six-degree-of-freedom parallel robot the earliest is based on the 6-SPS mechanism that Stewart proposed in nineteen sixty-five.For version abundant and the development parallel robot, the scholar of many research institutions has done a large amount of useful work.The development of robot proposes to use cheap, simple various lower-mobility parallel robot.In recent years, some lower-mobility parallel institutions become new research focus.Because this robot has characteristics such as simple in structure, that cost is low, in industrial production and other fields wide application prospect is arranged.Especially have the parallel institution of three translation freedoms, it belongs to space mechanism, can realize flute card three-dimensional space motion, satisfies spatial operation robot and mission requirements such as machining, assembling.
The most triangle symmetrical structures (as CN2476392Y, CN1110399C, CN1112282C etc.) that adopt three groups of side chains by 120 ° of layouts of existing three translation freedoms parallel institution, part three translation freedoms parallel institution adopts unsymmetric structure (as CN1189289C).Asymmetrical parallel institution can not guarantee mechanism stability and rigidity in the whole working space, adopts the manipulator or the lathe of parallel institution should have symmetrical structure so domestic and international many researchers think.The side chain of these mechanisms uses the ball-type hinge usually, exists manufacturing cost height, hinge gap to cause the shortcoming that mechanism kinematic error, ball pivot gap are difficult to compensate.
(3) summary of the invention
The three translation freedoms parallel institution the invention provides the three translation freedoms parallel institution that only contains revolute pair that a kind of manufacturing cost is lower, kinematic accuracy is high owing to the manufacturing cost height, the hinge gap that adopt ball pivot to exist cause the deficiency that mechanism kinematic error, ball pivot gap are difficult to compensate in the prior art in order to overcome.
The technical scheme that the present invention solves its technical problem is: a kind of three translation freedoms parallel institution that only contains revolute pair, comprise pedestal and moving platform, described pedestal is parallel with described moving platform, it is characterized in that: vertical four root posts with described pedestal are installed on the described pedestal, described four root posts are parallel to each other, be separately installed with rotating servo motor on described four root posts, the output shaft of each rotating servo motor connects a rhizoid bar respectively, described screw mandrel is vertical with described pedestal, described moving platform is connected by four side chains with described screw mandrel, and described four side chains are centrosymmetric about the center line of described moving platform; Every described side chain comprises connecting-rods with constant lengh group, first free bearing, second free bearing, is fixed in the installing plate on the described screw mandrel, the end of described first free bearing is by hinge and hinged formation first revolute pair of described moving platform, the head end of described first free bearing is by terminal hinged formation second revolute pair of hinge and described connecting-rods with constant lengh group, the axis normal of the axis of described first revolute pair and described second revolute pair; The end of described second free bearing is by hinged formation the 3rd revolute pair of the head end of hinge and described connecting-rods with constant lengh group, the head end of described second free bearing is by hinge and hinged formation the 4th revolute pair of described installing plate, the axis normal of the axis of described the 3rd revolute pair and described the 4th revolute pair.
Further, offer guide groove on the described column, described screw mandrel is located in the described guide groove.
Further, every group of described connecting-rods with constant lengh group is made up of two connecting-rods with constant lenghs.
Further, the upper end of described four columns connects by crossbeam.
The present invention is at when work installing terminal actuator on moving platform, driving screw mandrel by rotating servo motor rises or descends, thereby driving installing plate on every side chain moves up and down and drives moving platform and realize the three translation freedoms motion, end effector is installed on the moving platform, can realizes the various operation actions of end effector.
Beneficial effect of the present invention is: 1. moving platform attitude stabilization, and parallel with pedestal all the time, to a certain degree eliminate the parallel institution spatial singularity, only contain revolute pair, low cost of manufacture.2. only contain revolute pair, contain spherical hinge three translation freedoms parallel institution with tradition and compare, the gap that has overcome spherical hinge is difficult definite, is difficult for the shortcoming of compensation.3. the translation freedoms mechanism that only contains revolute pair is the redundantly driven parallel structure, is weak coupling between each chain movement, and the decoupling zero of control procedure realizes easily, reduces the control difficulty of parallel institution.
(4) description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is originally to be the vertical view of invention.
(5) specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
With reference to Fig. 1, Fig. 2, a kind of three translation freedoms parallel institution that only contains revolute pair, comprise pedestal 1 and moving platform 2, described pedestal 1 is parallel with described moving platform 2, vertical four root posts 3 with described pedestal are installed on the described pedestal 1, described four root posts 3 are parallel to each other, and the upper end of four columns 3 connects to increase steadiness by crossbeam 4.Be separately installed with rotating servo motor 5 on described four root posts 3, the output shaft of each rotating servo motor 5 connects a rhizoid bar 6 respectively, described screw mandrel 6 is vertical with described pedestal 1, offers guide groove 7 on the described column 3, and described screw mandrel 6 is located in the described guide groove 7.Described moving platform 2 is connected by four side chains with described screw mandrel 6, described four side chains are centrosymmetric about the center line of described moving platform 2, every described side chain comprises connecting-rods with constant lengh group, first free bearing 8, second free bearing 9, is fixed in the installing plate 10 on the described screw mandrel, and every group of described connecting-rods with constant lengh group is made up of two connecting-rods with constant lenghs 11.The end of described first free bearing 8 is by hinge and described moving platform 2 hinged formation first revolute pairs, the head end of described first free bearing 8 is by terminal hinged formation second revolute pair of hinge and described connecting-rods with constant lengh group, the axis normal of the axis of described first revolute pair and second revolute pair; The end of described second free bearing 9 is by hinged formation the 3rd revolute pair of the head end of hinge and described connecting-rods with constant lengh group, the head end of described second free bearing 9 is by hinge and described installing plate 10 hinged formation the 4th revolute pairs, the axis normal of the axis of described the 3rd revolute pair and described the 4th revolute pair.
The present invention is at when work installing terminal actuator on moving platform, driving screw mandrel 6 by rotating servo motor 5 rises or descends, thereby driving installing plate 10 on every side chain moves up and down and drives moving platform and realize the three translation freedoms motion, end effector is installed on the moving platform, can realizes the various operation actions of end effector.
Claims (4)
1. three translation freedoms parallel institution that only contains revolute pair, comprise pedestal and moving platform, described pedestal is parallel with described moving platform, it is characterized in that: four root posts vertical with described pedestal are installed on the described pedestal, described four root posts are parallel to each other, be separately installed with rotating servo motor on described four root posts, the output shaft of each rotating servo motor connects a rhizoid bar respectively, described screw mandrel is vertical with described pedestal, described moving platform is connected by four side chains with described screw mandrel, and described four side chains are centrosymmetric about the center line of described moving platform;
Every described side chain comprises connecting-rods with constant lengh group, first free bearing, second free bearing, is fixed in the installing plate on the described screw mandrel, the end of described first free bearing is by hinge and hinged formation first revolute pair of described moving platform, the head end of described first free bearing is by terminal hinged formation the two or two revolute pair of hinge and described connecting-rods with constant lengh group, the axis normal of the axis of described first revolute pair and described second revolute pair; The end of described second free bearing is by hinged formation the 3rd revolute pair of the head end of hinge and described connecting-rods with constant lengh group, the head end of described second free bearing is by hinge and hinged formation the 4th revolute pair of described installing plate, the axis normal of the axis of described the 3rd revolute pair and described the 4th revolute pair.
2. the three translation freedoms parallel institution that only contains revolute pair as claimed in claim 1 is characterized in that: offer guide groove on the described column, described screw mandrel is located in the described guide groove.
3. the three translation freedoms parallel institution that only contains revolute pair as claimed in claim 2 is characterized in that: every group of described connecting-rods with constant lengh group is made up of two connecting-rods with constant lenghs.
4. the three translation freedoms parallel institution that only contains revolute pair as claimed in claim 3, it is characterized in that: the upper end of described four root posts connects by crossbeam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100502107A CN100402245C (en) | 2006-04-05 | 2006-04-05 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100502107A CN100402245C (en) | 2006-04-05 | 2006-04-05 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
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| Publication Number | Publication Date |
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| CN1827313A CN1827313A (en) | 2006-09-06 |
| CN100402245C true CN100402245C (en) | 2008-07-16 |
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| CNB2006100502107A Expired - Fee Related CN100402245C (en) | 2006-04-05 | 2006-04-05 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102029615B (en) * | 2009-09-29 | 2013-06-05 | 鸿富锦精密工业（深圳）有限公司 | Parallel mechanism and translational branched chain thereof |
| CN101850519A (en) * | 2010-05-28 | 2010-10-06 | 浙江大学 | Space five-freedom parallel machine tool |
| CN102320193A (en) * | 2011-08-17 | 2012-01-18 | 华南理工大学 | Motion deviation compensation device and method for eliminating gap of parallel platform mechanisms |
| CN102328313A (en) * | 2011-08-31 | 2012-01-25 | 天津大学 | Three degree of translation freedom robot mechanism only containing rotating pair |
| CN102601794B (en) * | 2012-03-29 | 2014-05-21 | 天津大学 | High-rigidity four-degree-of-freedom parallel mechanism capable of adjusting postures |
| CN102615643B (en) * | 2012-03-29 | 2014-04-02 | 天津大学 | Four-degree-of-freedom parallel manipulator |
| CN102990654B (en) * | 2012-12-27 | 2015-08-26 | 广西大学 | A kind of parallel institution containing two pprrr closed-loop subchain |
| CN103231254B (en) * | 2013-04-22 | 2015-05-06 | 浙江理工大学 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
| CN105834576A (en) * | 2016-05-03 | 2016-08-10 | 浙江理工大学 | Redundant-driven friction stir welding parallel robot |
| CN111843664A (en) * | 2020-07-28 | 2020-10-30 | 郁海荣 | Parallel hub polishing machine tool capable of balancing gravity of workpiece |
| CN112318183B (en) * | 2020-11-15 | 2024-05-28 | 浙江工业大学 | Large-stroke five-degree-of-freedom series-parallel machine tool |
| CN112621728B (en) * | 2020-12-28 | 2022-06-24 | 哈尔滨工业大学（深圳） | Seven-degree-of-freedom double-module parallel cooperative robot for 3C assembly |
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| US4569627A (en) * | 1983-03-10 | 1986-02-11 | Simunovic Sergio N | Robotic manipulator |
| JPH09109083A (en) * | 1995-10-19 | 1997-04-28 | Agency Of Ind Science & Technol | Linear motion fixed type parallel manipulator |
| CN1256988A (en) * | 1998-12-11 | 2000-06-21 | 中国科学院沈阳自动化研究所 | Truss structure digital controlled machine-tool |
| CN2476392Y (en) * | 2001-04-30 | 2002-02-13 | 天津大学 | Vertical three-translation freedom shun machine |
| US20030005786A1 (en) * | 2001-07-05 | 2003-01-09 | Microdexterity Systems, Inc. | Parallel mechanism |
| CN1491775A (en) * | 2002-10-23 | 2004-04-28 | 陈政雄 | Parallel mechanism device of multiple shaft type machine tool |
| CN1586807A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
| CN2917981Y (en) * | 2006-04-05 | 2007-07-04 | 浙江工业大学 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
-
2006
- 2006-04-05 CN CNB2006100502107A patent/CN100402245C/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4569627A (en) * | 1983-03-10 | 1986-02-11 | Simunovic Sergio N | Robotic manipulator |
| JPH09109083A (en) * | 1995-10-19 | 1997-04-28 | Agency Of Ind Science & Technol | Linear motion fixed type parallel manipulator |
| CN1256988A (en) * | 1998-12-11 | 2000-06-21 | 中国科学院沈阳自动化研究所 | Truss structure digital controlled machine-tool |
| CN2476392Y (en) * | 2001-04-30 | 2002-02-13 | 天津大学 | Vertical three-translation freedom shun machine |
| US20030005786A1 (en) * | 2001-07-05 | 2003-01-09 | Microdexterity Systems, Inc. | Parallel mechanism |
| CN1491775A (en) * | 2002-10-23 | 2004-04-28 | 陈政雄 | Parallel mechanism device of multiple shaft type machine tool |
| CN1586807A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
| CN2917981Y (en) * | 2006-04-05 | 2007-07-04 | 浙江工业大学 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
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| CN1827313A (en) | 2006-09-06 |
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