CN100553899C - A kind of fork four-freedom parallel connection robot mechanism - Google Patents
A kind of fork four-freedom parallel connection robot mechanism Download PDFInfo
- Publication number
- CN100553899C CN100553899C CNB2008100602053A CN200810060205A CN100553899C CN 100553899 C CN100553899 C CN 100553899C CN B2008100602053 A CNB2008100602053 A CN B2008100602053A CN 200810060205 A CN200810060205 A CN 200810060205A CN 100553899 C CN100553899 C CN 100553899C
- Authority
- CN
- China
- Prior art keywords
- branched chain
- parallel
- axis
- moving
- movement branched
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Transmission Devices (AREA)
Abstract
The present invention discloses a kind of fork four-freedom parallel connection robot mechanism.2～4 identical movement branched chain of structure by moving platform, fixed platform and connection moving platform and fixed platform are formed; Described movement branched chain is followed successively by moving sets from the fixed platform to the moving platform, first revolute pair, single dof mobility pair, second revolute pair and the 3rd revolute pair.This mechanism has three one-movement-freedom-degrees and two rotational freedoms under initial bit shape, the axis of two revolute pairs that moving platform can be connected with moving platform in adjacent two branches with it rotates respectively, and when moving platform when a direction begins to rotate, another rotation direction just automatically locks, and mechanism had only three one-movement-freedom-degrees and a rotational freedom after promptly moving platform rotated from initial position.The present invention can be widely used in parallel robot, micro displacement workbench and virtual-shaft machine tool, have the rigidity height, simple in structure, mobile and rotate decoupling zero, be easy to control, advantage such as dynamic property is good, process and assemble is good.
Description
Technical field
The present invention relates to the robot field, particularly relate to a kind of five degree of freedom self-locking parallel robot mechanism.
Background technology
Parallel robot mechanism belongs to the space multiple degrees of freedom and encircles closed chain mechanism more, compares with serial mechanism, and parallel institution has characteristics such as rigidity is big, bearing capacity is big, accumulated error is little, dynamic characteristic is good, compact conformation.At present, parallel institution is widely used in the aspect such as virtual-shaft machine tool, fine motion operating desk, various motion simulator, sensor except that parallel robot.
Present 3, the parallel robot mechanism of 6DOF is used comparatively extensive, and the 4DOF parallel robot mechanism is less, has only ZL01114009.7, ZL200510052260.4, ZL200610012171.1, ZL200610151078.9 etc., four-freedom parallel connection robot mechanism with fork characteristic does not appear in the newspapers as yet, the moving platform that so-called fork characteristic is meant parallel robot mechanism is located two kinds of different frees degree of changeable one-tenth and is remained unchanged certain special bit shape, and mutual exclusion between these two kinds of different frees degree after promptly moving platform switches to a kind of free degree through this shape, must be returned this special bit shape again and just can switch to the another kind of free degree.
Summary of the invention
The object of the present invention is to provide a kind of fork four-freedom parallel connection robot mechanism.
The present invention adopts following technical scheme:
A kind of fork four-freedom parallel connection robot mechanism, its feature comprises: 2～4 identical movement branched chain of structure by moving platform, fixed platform and connection moving platform and fixed platform are formed; Described movement branched chain is made up of 3 revolute pairs, 1 moving sets and 1 single dof mobility pair; Movement branched chain is followed successively by moving sets from the fixed platform to the moving platform, first revolute pair, single dof mobility pair, second revolute pair and the 3rd revolute pair; The moving sets axis is parallel with the axis of first, second revolute pair, and vertical with the 3rd revolute pair axis; Under the initial loading coordination type, moving platform is parallel to fixed platform.
Single dof mobility pair in the middle of the described movement branched chain is a moving sets, and its axis is vertical with the first revolute pair axis.
Single dof mobility pair in the middle of the described movement branched chain is a parallel-crank mechanism, 4 rotating shafts in the parallel-crank mechanism all are parallel to the axis direction of moving sets in this movement branched chain, and the relative both sides of parallel four limit row mechanisms are connected on first revolute pair and second revolute pair.
The number of described movement branched chain is 4, and 4 axis that are connected to the moving sets of fixed platform constitute a rectangle in the movement branched chain; Two the 3rd revolute pair axis that wherein link to each other with moving platform in the moving sets axis two parallel relative motion side chain overlap.
The number of described movement branched chain is 3, the moving sets axis that wherein is connected to fixed platform in two movement branched chain is parallel to each other, and is connected to the moving sets axis normal that is connected to fixed platform in the moving sets axis of fixed platform and preceding two movement branched chain in another movement branched chain; Being connected to two the 3rd revolute pair axis that link to each other with moving platform in the moving sets axis two parallel relative motion side chain of fixed platform overlaps.
The number of described movement branched chain is two, and the moving sets axis that is connected to fixed platform in two movement branched chain is vertical mutually.
The beneficial effect that the present invention has is:
Said mechanism is parallel at moving platform under the initial bit shape of fixed platform and has three one-movement-freedom-degrees and two rotational freedoms, the axis of two revolute pairs that moving platform can be connected with moving platform in adjacent two branches with it rotates respectively, and when moving platform when a direction begins to rotate, another rotation direction just automatically locks, mechanism has only four frees degree when promptly rotating, for realizing the switching of the free degree, mechanism need adopt five drivers to carry out redundant drive.When the movement branched chain number is 4, structure distribution symmetry, the MECHANISM PRECISION loss that the factors such as processing, assembling that can reduce cause.
The present invention can be extensively with being parallel robot, micro displacement workbench and virtual-shaft machine tool, advantage such as have the moving and rotate decoupling zero, be easy to control of rigidity height, simple in structure, moving platform, dynamic property is good, process and assemble is good.
Description of drawings
Fig. 1 is the structural representation of first embodiment of the present invention.
Fig. 2 is the structural representation of second embodiment of the present invention.
Fig. 3 is the structural representation of the 3rd embodiment of the present invention.
Fig. 4 is the structural representation of the 4th embodiment of the present invention.
Among the figure: 1, moving platform, 2, revolute pair, 3, revolute pair, 4, moving sets, 5, revolute pair, 6, moving sets, 7, fixed platform, 8, parallel four limit row mechanisms.
The specific embodiment
As shown in Figure 1, be the structural representation of first embodiment of the present invention.2～4 identical movement branched chain of structure by moving platform 1, fixed platform 7 and connection moving platform 1 and fixed platform 7 are formed; Described movement branched chain is by 2,3,4, moving sets 6 of three revolute pairs and the secondary composition of single dof mobility; Movement branched chain 1 is followed successively by moving sets 6, the first revolute pairs 5, single dof mobility pair, second revolute pair 3 and the 3rd revolute pair 2 from fixed platform 7 to moving platform; The axis of moving sets 6 axis and first, second revolute pair 5,3 is parallel, and with the 3rd revolute pair 2 axis normal; Under the initial loading coordination type, moving platform 1 is parallel to fixed platform 7.Single dof mobility pair in the middle of the movement branched chain is a moving sets 4, its axis and first revolute pair, 5 axis normal.
As shown in Figure 2, be the structural representation of second embodiment of the present invention.Different with previous embodiment is that the middle kinematic pair by single-degree-of-freedom of movement branched chain is a parallel-crank mechanism 8,4 rotating shafts in the parallel-crank mechanism 8 all are parallel to the axis direction of moving sets 6 in this movement branched chain, and the relative both sides of parallel four limit row mechanisms 8 are connected on first revolute pair 5 and second revolute pair 3.
As shown in Figure 3, be the structural representation of the 3rd embodiment of the present invention, present embodiment can remove any 1 movement branched chain acquisition in 4 movement branched chain from embodiment illustrated in fig. 1.
As shown in Figure 4, be the structural representation of the 4th embodiment of the present invention, present embodiment can remove any 2 adjacent movement branched chain acquisitions in 4 movement branched chain from embodiment illustrated in fig. 1.
Claims (8)
1, a kind of four-freedom parallel connection robot mechanism with fork characteristic, its feature comprises: by moving platform, fixed platform and connect moving platform and fixed platform 3 or 4 identical movement branched chain of structure and form; Every described movement branched chain is by 3 revolute pairs, 1 moving sets and 1 secondary composition of single dof mobility; Every described movement branched chain is followed successively by moving sets from the fixed platform to the moving platform, first revolute pair, single dof mobility pair, second revolute pair and the 3rd revolute pair; The moving sets axis is parallel with the axis of first, second revolute pair, and vertical with the 3rd revolute pair axis; Under the initial loading coordination type, moving platform is parallel to fixed platform;
The moving platform that so-called fork characteristic is meant parallel robot mechanism is located two kinds of different frees degree of changeable one-tenth and is remained unchanged certain special bit shape, and mutual exclusion between these two kinds of different frees degree, be after moving platform switches to a kind of free degree through this shape, must return this special bit shape again and just can switch to the another kind of free degree.
2, a kind of four-freedom parallel connection robot mechanism according to claim 1 with fork characteristic, it is characterized in that: every middle single dof mobility pair of described movement branched chain is moving sets, and the axis of described moving sets is vertical with the first revolute pair axis.
3, a kind of four-freedom parallel connection robot mechanism according to claim 1 with fork characteristic, it is characterized in that: every middle single dof mobility pair of described movement branched chain is parallel-crank mechanism, 4 rotating shafts in each described parallel-crank mechanism all are parallel to the axis direction of moving sets in its place movement branched chain, described parallel-crank mechanism all has 4 limits, a limit wherein is connected on described first revolute pair, and another relative with a described limit in described parallel-crank mechanism limit is connected on described second revolute pair.
4, according to claim 2 or 3 described a kind of four-freedom parallel connection robot mechanisms with fork characteristic, it is characterized in that: the number of described movement branched chain is 4, and 4 axis that are connected to the moving sets of fixed platform constitute a rectangle in the movement branched chain; Wherein being connected to two the 3rd revolute pair axis that link to each other with moving platform in the relative movement branched chain of the moving sets axis two parallel of fixed platform overlaps.
5, according to claim 2 or 3 described a kind of four-freedom parallel connection robot mechanisms with fork characteristic, it is characterized in that: the number of described movement branched chain is 3, the moving sets axis that wherein is connected to fixed platform in two movement branched chain is parallel to each other, and is connected to the moving sets axis normal that is connected to fixed platform in the moving sets axis of fixed platform and preceding two movement branched chain in another movement branched chain; Being connected to two the 3rd revolute pair axis that link to each other with moving platform in the relative movement branched chain of the moving sets axis two parallel of fixed platform overlaps.
6, a kind of four-freedom parallel connection robot mechanism with fork characteristic, its feature comprises: 2 identical movement branched chain of structure by moving platform, fixed platform and connection moving platform and fixed platform are formed; Every described movement branched chain is by 3 revolute pairs, 1 moving sets and 1 secondary composition of single dof mobility; Every described movement branched chain is followed successively by moving sets from the fixed platform to the moving platform, first revolute pair, single dof mobility pair, second revolute pair and the 3rd revolute pair; The moving sets axis is parallel with the axis of first, second revolute pair, and vertical with the 3rd revolute pair axis; Under the initial loading coordination type, moving platform is parallel to fixed platform; The moving sets axis that is connected to fixed platform in the identical movement branched chain of described 2 structures is vertical mutually;
The moving platform that so-called fork characteristic is meant parallel robot mechanism is located two kinds of different frees degree of changeable one-tenth and is remained unchanged certain special bit shape, and mutual exclusion between these two kinds of different frees degree, be after moving platform switches to a kind of free degree through this shape, must return this special bit shape again and just can switch to the another kind of free degree.
7, a kind of four-freedom parallel connection robot mechanism according to claim 6 with fork characteristic, it is characterized in that: every middle single dof mobility pair of described movement branched chain is moving sets, and the axis of described moving sets is vertical with the first revolute pair axis.
8, a kind of four-freedom parallel connection robot mechanism according to claim 6 with fork characteristic, it is characterized in that: every middle single dof mobility pair of described movement branched chain is parallel-crank mechanism, 4 rotating shafts in each described parallel-crank mechanism all are parallel to the axis direction of moving sets in its place movement branched chain, described parallel-crank mechanism all has 4 limits, a limit wherein is connected on described first revolute pair, and another relative with a described limit in described parallel-crank mechanism limit is connected on described second revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100602053A CN100553899C (en) | 2008-03-31 | 2008-03-31 | A kind of fork four-freedom parallel connection robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100602053A CN100553899C (en) | 2008-03-31 | 2008-03-31 | A kind of fork four-freedom parallel connection robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101259617A CN101259617A (en) | 2008-09-10 |
| CN100553899C true CN100553899C (en) | 2009-10-28 |
Family
ID=39960415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2008100602053A Expired - Fee Related CN100553899C (en) | 2008-03-31 | 2008-03-31 | A kind of fork four-freedom parallel connection robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100553899C (en) |
Families Citing this family (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791804B (en) * | 2010-01-26 | 2012-02-15 | 燕山大学 | Symmetrical double-rotation one-motion three-freedom-degree parallel mechanism |
| CN102579137B (en) * | 2012-03-28 | 2014-01-15 | 广西大学 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
| CN102941572A (en) * | 2012-11-12 | 2013-02-27 | 天津理工大学 | Spatial three-dimensional translation parallel mechanism with only lower pairs |
| CN103009380B (en) * | 2012-12-31 | 2014-11-05 | 北京交通大学 | Parallel mechanism with movement bifurcation characteristic |
| CN103286771A (en) * | 2013-05-23 | 2013-09-11 | 天津大学 | Spatial three-rotational-freedom parallel connecting mechanism |
| CN103317499A (en) * | 2013-05-31 | 2013-09-25 | 燕山大学 | Folding type four-degree-of-freedom parallel connected stable platform |
| CN104227434A (en) * | 2014-06-26 | 2014-12-24 | 天津工业大学 | Two-translation-and-three-turning parallel mechanism used for virtual machine tool |
| CN104269097B (en) * | 2014-08-13 | 2017-08-11 | 天津工程机械研究院 | A kind of redundant drive six-freedom motion simulation table |
| CN104985587B (en) * | 2015-07-02 | 2017-03-08 | 上海交通大学 | The four-degree-of-freedom with arc moving sets rotates mobile full decoupled parallel institution |
| 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 |
| CN105364922B (en) * | 2015-10-26 | 2017-04-19 | 浙江理工大学 | Four-freedom-degree parallel type transfer robot driven by movable pairs |
| CN105798502B (en) * | 2016-05-23 | 2017-12-12 | 郑利敏 | A kind of four-degree-of-freedom sewage treatment pipeline sewage blocking plate welding industry robot |
| CN105997251B (en) * | 2016-06-12 | 2018-11-20 | 浙江理工大学 | A kind of four-freedom hybrid declines invasive procedures manipulator |
| CN107049498B (en) * | 2017-05-15 | 2023-10-20 | 浙江理工大学 | Parallel three-degree-of-freedom remote motion center surgical robot |
| CN107179746B (en) * | 2017-06-20 | 2019-07-12 | 清华大学 | A method of eliminating the moving platform fluctuation of speed of parallel architecture main tapping terminal |
| CN107877492B (en) * | 2017-11-09 | 2020-07-07 | 中国地质大学（武汉） | Parallel manipulator for minimally invasive surgery |
| CN109499009A (en) * | 2018-12-12 | 2019-03-22 | 深圳先进技术研究院 | A kind of robot for implantation radiation particle |
| CN112171647B (en) * | 2020-10-29 | 2021-09-10 | 燕山大学 | Parallel mechanism with movement bifurcation characteristic |
| CN112428257B (en) * | 2020-12-02 | 2022-07-08 | 中国民航大学 | Six-degree-of-freedom parallel mechanism with compound driving branched chain |
| CN112706152B (en) * | 2020-12-28 | 2022-02-11 | 燕山大学 | Parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics |
| CN112936225B (en) * | 2021-01-28 | 2023-06-27 | 燕山大学 | Few-drive multi-degree-of-freedom output redundancy parallel mechanism and control method |
| CN113043228B (en) * | 2021-03-22 | 2022-03-01 | 江苏宏达数控科技股份有限公司 | Multi-station power tool rest posture adjusting detection platform and control method thereof |
| CN117940253A (en) * | 2021-06-18 | 2024-04-26 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom guiding mechanism and multi-degree-of-freedom guiding device |
| CN113319831B (en) * | 2021-07-16 | 2022-08-02 | 燕山大学 | Motion bifurcation three-degree-of-freedom parallel mechanism |
| CN113370190B (en) * | 2021-07-16 | 2022-05-03 | 燕山大学 | Moving branch parallel mechanism with two modes of 2T1R and 2R1T |
| CN113580113A (en) * | 2021-09-03 | 2021-11-02 | 北京理工大学 | Parallel constraint mechanism of translation robot |
-
2008
- 2008-03-31 CN CNB2008100602053A patent/CN100553899C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101259617A (en) | 2008-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100553899C (en) | A kind of fork four-freedom parallel connection robot mechanism | |
| CN101698300B (en) | Large-working space parallel robot mechanism | |
| CN102626870B (en) | Three-DOF (Degree of Freedom) parallel spindle head with single-DOF hinge | |
| CN101700621B (en) | Full decoupled three-dimensional moving parallel robot mechanism | |
| CN101767335A (en) | Twin-translation-rotation partial decoupling parallel mechanism | |
| CN101712151B (en) | Large-inclination six-degree-of-freedom parallel robot | |
| CN101214647A (en) | Spherical surface two-freedom symmetrical parallel connection robot mechanism with redundancy drive | |
| CN102962837A (en) | Easy-to-control symmetric parallel mechanism with two rotating pairs and one moving pair | |
| CN101036986B (en) | Novel 3-DOF parallel manipulator having two-rotating and one-moving | |
| CN105729450A (en) | Four-degree-of-freedom parallel mechanism | |
| CN102825595A (en) | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism | |
| CN100421885C (en) | Symmetrical and parallel robot mechanism with cross set and 4 or 5 freedoms | |
| CN100486782C (en) | Spatially symmetrical and parallel robot mechanism with dual parallel lines and 3,4 and 5 freedoms | |
| CN102501243A (en) | Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom | |
| CN102699908A (en) | Two-freedom-degree mobile decoupling parallel robot mechanism | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN102909569A (en) | 1T2R three-degree of freedom spatial parallel mechanism | |
| CN102240911A (en) | Incompletely-symmetrical four-freedom-degree space in-parallel mechanism with two-dimensional rotation and two-dimensional movement | |
| CN105904441A (en) | Two-movement two-rotation four-degree-of-freedom full-symmetrical parallel mechanism | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN102248533A (en) | Two-degree-of-freedom spatial parallel mechanism for realizing one-dimensional rotation and one-dimensional movement | |
| CN103753235A (en) | Multi-axis linkage based on modules in parallel | |
| CN102975196A (en) | Double-rotational freedom parallel mechanism | |
| CN101700655A (en) | Three-dimensional transformational parallel robot mechanism with large workspace | |
| CN1169651C (en) | Three-D shifting two-D rotation five-axle interlinked moving parallel connected machine tool structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091028 Termination date: 20200331 |