CN100548591C - A kind of two translationa movement and jogging platform with redundancy branched chain - Google Patents
A kind of two translationa movement and jogging platform with redundancy branched chain Download PDFInfo
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- CN100548591C CN100548591C CNB2007101147431A CN200710114743A CN100548591C CN 100548591 C CN100548591 C CN 100548591C CN B2007101147431 A CNB2007101147431 A CN B2007101147431A CN 200710114743 A CN200710114743 A CN 200710114743A CN 100548591 C CN100548591 C CN 100548591C
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Abstract
The invention provides a kind of two translationa movement and jogging platform with redundancy branched chain, comprise motion platform, fixed platform, micro-displacement driving device and be connected in two groups of side chains between two platforms, it is characterized in that: two micro-displacement driving device are installed on the fixed platform, include two side chains in every group of side chain, the drive end of each micro-displacement driving device successively in first group the resilient movement pair of every side chain, first pair of elasticity revolute pair, connecting rod, second pair of elasticity revolute pair be connected with motion platform; Motion platform also respectively successively in second group the 5th elasticity revolute pair of every side chain, first connecting rod, the 4th elasticity revolute pair, second connecting rod, the 3rd elasticity revolute pair be connected with fixed platform; The pivot center of flexible revolute pair parallel to each other.The present invention introduces redundancy branched chain, has higher bearing capacity and bigger rigidity, and highly sensitive, function admirable.
Description
Technical field
The invention belongs to the manufacturing technology field, specifically relate to a kind of two translationa movement and jogging platform with redundancy branched chain.
Background technology
Continuous development and progress along with science and technology, human research's scientific domain has been deep into the microscopic fields that we can not directly experience, as fields such as medical science, biology, optics, material and engineerings, its target is more and more littler, finishing this class work must be by means of special instrument and means, therefore, the research of micromotion platform becomes the key technology of microscopic fields.Adopt the parallel micromotion platform of flexible hinge to have not have friction, no gap, response soon, characteristics such as compact conformation, so be widely used in the trickle field operation such as processing, assembling of chromosome cutting, chip manufacturing, micro electronmechanical product.
Developed six-freedom micro displacement in parallel robot as Switzerland EPFL, the Kallio of Finland has developed the freedom degree parallel connection jiggle robot, Hudgens of department of mechanical engineering of U.S. Texas university and Tesar etc. have developed the jiggle robot of a full band flexible hinge in parallel of 6DOF, and Japanese Tamio TANIKAWA etc. has developed the six-freedom micro displacement parallel robot.At home, BJ University of Aeronautics ﹠ Astronautics has developed the six degree of freedom connection in series-parallel micro-manipulating robot of two-stage decoupling zero and the micro-manipulating robot of freedom degree parallel connection Delta mechanism, Harbin Institute of Technology has successively developed 6-PSS and 6-SPS six-freedom parallel Stewart jiggle robot, and Hebei University of Technology has developed the 6-PSS type microoperation platform of crossing decoupling structure.At application number is 02117851.8,200510125990.2,200610151113.7,00100197.3,00100198.1 patent document in " reconfigurable modularization 3～6DOF structure decoupling parallel jiggle robot " disclosed, " a kind of 3-PPTTRS six freedom degree parallel precise jiggle robot ", " a kind of three-branch chain six-freedom degree parallel flexible hinge micromotion mechanism ", " four-freedom four-shaft structure decoupling parallel jiggle robot ", " vernier robot with decoupled parallel three freedoms and three-axle structure ".
At some ultraprecise manufacture fields,, need then to guarantee that micromotion platform has very high rigidity and bearing capacity as little processing of high hard material.Although prior art can obtain higher stiffness by the structural parameters that change micromotion platform, so often make platform by volume increase, when driving, expend unnecessary energy to produce the relative motion of flexible hinge.
Summary of the invention
The purpose of this invention is to provide a kind of have high bearing capacity and big rigidity, highly sensitive two translation parallel structure mini positioning platforms.Its technical scheme is:
Comprise fixed platform, motion platform, micro-displacement driving device and be connected in fixed platform and motion platform between two groups of side chains, it is characterized in that: two micro-displacement driving device are installed on the fixed platform, include two side chains in every group of side chain, wherein every side chain in first group all comprises secondary and two connecting rods of a resilient movement, the axis of two connecting rods is parallel to each other, and an end of two connecting rods is connected with motion platform by the second elasticity revolute pair respectively, its other end connects a side of resilient movement pair respectively by the first elasticity revolute pair, the opposite side of resilient movement pair is connected with the drive end of micro-displacement driving device; Every side chain in second group all comprises first connecting rod and second connecting rod, one end of first connecting rod is connected with an end of second connecting rod through the 4th elasticity revolute pair, the other end of first connecting rod is connected with motion platform by the 5th elasticity revolute pair, and the other end of second connecting rod is connected with fixed platform by the 3rd elasticity revolute pair; The pivot center of flexible revolute pair parallel to each other.
Two side chains in two side chains in the described a kind of two translationa movement and jogging platform with redundancy branched chain, first group of side chain and the second group of side chain are distributed on the motion platform periphery successively.
The present invention compared with prior art has following advantage:
1, introduced redundant movement branched chain, both guaranteed the motion feature of micromotion platform, and made it have higher bearing capacity and bigger rigidity;
2, adopt the even distribution type structure, make micromotion platform have identical static state and dynamic property, therefore have advantages such as performance is good, highly sensitive, control is simple, be applicable to the various occasions that need the plane fine setting along all directions.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention.
Among the figure: 1, fixed platform 2, micro-displacement driving device 3,5,7,9,11 elasticity revolute pairs 4, resilient movement pair 6,10,12, connecting rod 8, motion platform
The specific embodiment
In the embodiment shown in fig. 1: two micro-displacement driving device 2 are installed on the fixed platform 1, two groups of side chains that are connected between motion platform 8 and the fixed platform 1 all respectively comprise two side chains, wherein every side chain in first group all comprises secondary 4 and two connecting rods 6 of a resilient movement, the axis of two connecting rods 6 is parallel to each other, and an end of two connecting rods 6 is connected with motion platform 8 by the second elasticity revolute pair 7 respectively, its other end connects a side of resilient movement pair 4 respectively by the first elasticity revolute pair 5, the opposite side of resilient movement pair 4 is connected with the drive end of micro-displacement driving device 2; Every side chain in second group all comprises first connecting rod 10 and second connecting rod 12, one end of first connecting rod 10 is connected with an end of second connecting rod 12 through the 4th elasticity revolute pair 11, the other end of first connecting rod 10 is connected with motion platform 8 by the 5th elasticity revolute pair 9, and the other end of second connecting rod 12 is connected with fixed platform 1 by the 3rd elasticity revolute pair 3; The pivot center of elasticity revolute pair 3, elasticity revolute pair 5, elasticity revolute pair 7, elasticity revolute pair 9, elasticity revolute pair 11 is parallel to each other, and two side chains in two side chains in first group of side chain and the second group of side chain are distributed on motion platform 8 peripheries successively.
Claims (2)
1, a kind of two translationa movement and jogging platform with redundancy branched chain, comprise fixed platform (1), motion platform (8), micro-displacement driving device (2) and be connected in fixed platform (1) and motion platform (8) between two groups of side chains, it is characterized in that: two micro-displacement driving device (2) are installed on the fixed platform (1), include two side chains in every group of side chain, wherein every side chain in first group all comprises a resilient movement pair (4) and two connecting rods (6), the axis of two connecting rods (6) is parallel to each other, and an end of two connecting rods (6) is connected with motion platform (8) by the second elasticity revolute pair (7) respectively, its other end connects a side of resilient movement pair (4) respectively by the first elasticity revolute pair (5), the opposite side of resilient movement pair (4) is connected with the drive end of micro-displacement driving device (2); Every side chain in second group all comprises first connecting rod (10) and second connecting rod (12), one end of first connecting rod (10) is connected with an end of second connecting rod (12) through the 4th elasticity revolute pair (11), the other end of first connecting rod (10) is connected with motion platform (8) by the 5th elasticity revolute pair (9), and the other end of second connecting rod (12) is connected with fixed platform (1) by the 3rd elasticity revolute pair (3); The pivot center of flexible revolute pair parallel to each other.
2, a kind of two translationa movement and jogging platform with redundancy branched chain according to claim 1 is characterized in that: two side chains in two side chains in first group of side chain and the second group of side chain are distributed on motion platform (8) periphery successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101147431A CN100548591C (en) | 2007-11-22 | 2007-11-22 | A kind of two translationa movement and jogging platform with redundancy branched chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101147431A CN100548591C (en) | 2007-11-22 | 2007-11-22 | A kind of two translationa movement and jogging platform with redundancy branched chain |
Publications (2)
| Publication Number | Publication Date |
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| CN101176995A CN101176995A (en) | 2008-05-14 |
| CN100548591C true CN100548591C (en) | 2009-10-14 |
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| CNB2007101147431A Expired - Fee Related CN100548591C (en) | 2007-11-22 | 2007-11-22 | A kind of two translationa movement and jogging platform with redundancy branched chain |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102059693B (en) * | 2010-11-05 | 2013-04-10 | 山东理工大学 | Dual-translation microoperating platform comprising quadrate elastic pair |
| CN102062188B (en) * | 2010-11-05 | 2013-04-17 | 山东理工大学 | Double-input synchronous drive interface module |
| CN102664045A (en) * | 2012-05-17 | 2012-09-12 | 合肥工业大学 | 16-bartwo-dimensional no-coupling micro displacement worktable |
| CN102664047A (en) * | 2012-05-17 | 2012-09-12 | 合肥工业大学 | 20-bar two-dimensional non-coupling micro-displacement stage |
| CN102664046A (en) * | 2012-05-17 | 2012-09-12 | 合肥工业大学 | 24-bar two-dimensional no-coupling micro-displacement workbench |
| CN102637462A (en) * | 2012-05-17 | 2012-08-15 | 合肥工业大学 | 12-rod two-dimensional no-coupling micrometric displacement workbench |
| CN106514278B (en) * | 2016-11-08 | 2021-02-09 | 江西理工大学 | 2-dimensional high-frequency micro-amplitude vibrator based on flexible parallel mechanism |
| CN108081247A (en) * | 2018-01-15 | 2018-05-29 | 燕山大学 | A kind of space six-freedom parallel micromotion platform |
| CN110148436B (en) * | 2018-10-12 | 2021-04-06 | 宁波大学 | Large-stroke rotatable three-degree-of-freedom parallel flexible micro-motion platform |
| CN112476373B (en) * | 2020-10-15 | 2022-05-20 | 广东工业大学 | Space 6-RRRR (resistance-random ring resonator) compliant parallel nano positioning platform |
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2007
- 2007-11-22 CN CNB2007101147431A patent/CN100548591C/en not_active Expired - Fee Related
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| CN101176995A (en) | 2008-05-14 |
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Address after: Room 1012, building D, high tech garden, hi tech Industrial Development Zone, Shandong, Zibo Patentee after: Shandong University of Technology Address before: No. 12 Zhang Zhou road, Zhangdian District, Shandong, Zibo Patentee before: Shandong University of Technology |
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Granted publication date: 20091014 Termination date: 20111122 |