CN101244559A - Dual drive four-freedom space parallel mechanism - Google Patents
Dual drive four-freedom space parallel mechanism Download PDFInfo
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- CN101244559A CN101244559A CNA200810054641XA CN200810054641A CN101244559A CN 101244559 A CN101244559 A CN 101244559A CN A200810054641X A CNA200810054641X A CN A200810054641XA CN 200810054641 A CN200810054641 A CN 200810054641A CN 101244559 A CN101244559 A CN 101244559A
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Abstract
The invention discloses a double-drive four-degree-of-freedom spatial parallel combined mechanism, which is characterized in that mutual parallel active platform (1) and fixed platform (10) are connected by four branches with the same structure; the connecting joints of four branches and the active platform (1) and the fixed platform (10) are arranged as a rectangular distribution; two kinematic pairs of each branch are respectively the shifting pair (8) connected with the fixed platform and the shifting pair (4) between two hook joints. The mechanism can realize 3D space movement and the running around the axis perpendicular to the fixed platform (10). Eight shifting pairs of the mechanism can be used singly or used as the drive input of the mechanism at the same time. The mechanism in nature integrates 4-PUU and 4-UPU two parallel combined mechanisms and is different with the direct connection in series of two parallel combined mechanisms. The mechanism has the advantages of relative simple and symmetrical structure and high positioning precision; besides, the redundancy property of the input provides a wider working space and higher flexibility; the mechanism is particularly suitable for the macro/micro drive robot situation with big stroke and high precision.
Description
Technical field
The invention belongs to parallel institution and learn the field, particularly relate to a kind of dual drive four-freedom space parallel mechanism.
Background technology
In fields such as military engineering, optical communication engineering, bioengineering and precision optical machinery engineerings, applied robot system is had higher requirement, particularly, require robot in big space, to realize nano level motion positions precision at aspects such as the motion positions precision of robot, response speed, flexibilities.These more and more higher requirements make the robot system of traditional employing single drive mode more and more be difficult to be competent at.And macro/micro driven machine robot system is better than traditional single drive mode robot system in the performance aspect a lot, and characteristics such as the low inertia that it had, high accuracy, DOF (degree of freedom) redundance are that single driven machine robot system does not possess.Traditional grand/little driven machine robot system is directly to the series connection of two single driven machine robot systems, its complex structure, takes up room greatlyyer, and its application performance is restricted in many cases.
Summary of the invention
In order to overcome the prior art above shortcomings, the invention provides a kind of three-dimensional dual drive four-freedom parallel institution that rotates with one dimension that moves that has, it is different from the direct series connection of two kinds of parallel institutions, it has merged two parallel-connection structure 4-PUU and 4-UPU in fact in one, it is simple in structure, working space is big, the flexibility height.
The technical solution adopted for the present invention to solve the technical problems is: this mechanism is made up of moving platform that is parallel to each other and the fixed platform driving branch identical with four structures that are connected moving platform and fixed platform, wherein: have two moving sets secondary as driving in each branch, these two drive pair is moving sets that is connected with fixed platform and the moving sets that is connected two Hooke's hinges.4-PUU and two kinds of parallel institutions of 4-UPU have been merged in essence in this mechanism, are not only again the series connection of two kinds of mechanisms, eight in mechanism input moving sets can be separately also can be simultaneously as the input of mechanism.
Dual-driving parallel mechanism provided by the invention, made full use of the design feature of parallel institution, branch of mechanism is added redundant kinematic pair makes it merge two kinds of parallel institutions in itself, relatively in the past its member of double drive robot system still less, structure is simpler, compact.Sometimes do not need robot system to have the space six-freedom degree in actual applications, and the relative six-degree-of-freedom parallel connection mechanism of lower-mobility parallel institution it is simple in structure, control is relatively easy.Therefore the advantage of double drive lower-mobility parallel institution is integrated double drive robot system and lower-mobility parallel-connection structure has good application prospects.
Description of drawings
Fig. 1 is the dual drive four-freedom space parallel mechanism schematic diagram;
Fig. 2 is the Hooke's hinge structural representation that connects lower link and upper pillar stand.
In Fig. 1,1. moving platform, 2. Hooke's hinge is 3. gone up connecting rod, 4. moving sets, 5. lower link, 6. Hooke's hinge, 7. upper pillar stand, 8. moving sets, 9. lower pillar stand, 10. fixed platform.
Accompanying drawing 1 is an embodiment disclosed by the invention.This mechanism is by moving platform 1, fixed platform 10 and be connected moving platform and four identical branches of structure of fixed platform form, and two moving sets is arranged as driving in each branch.Moving platform 1 is connected with last connecting rod 3 by Hooke's hinge 2, and last connecting rod 3 is connected with lower link 5 by moving sets 4, and lower link 5 is connected with upper pillar stand 7 by Hooke's hinge 6, and upper pillar stand 7 is connected with lower pillar stand 9 by moving sets 8, and lower pillar stand 9 connects firmly with fixed platform 10.The rectangular distribution respectively of the tie point of four branches and moving platform 1 and fixed platform 10, the moving platform 1 and the fixed platform 10 that are formed by connecting by the branch of four symmetrical distributions are parallel to each other.Hooke's hinge 2 is rotationally connected with upper mounting plate 1, and Hooke's hinge 6 is rotationally connected with upper pillar stand 7.
The present invention is a dual drive four-freedom space parallel mechanism, and 4-PUU and two kinds of parallel institutions of 4-UPU have been merged in essence in this mechanism, and it is different from the direct series connection of above-mentioned two kinds of mechanisms.In this mechanism, eight input moving sets can be separately also can be simultaneously as the input of mechanism.The present invention is integrated double drive robot system and lower-mobility parallel-connection structure, simple relatively except that having structure, outside the advantages such as symmetry, because the redundancy properties of its input, deficiencies such as the parallel robot mechanism space is little, very flexible have been improved, be applicable to big stroke, high accuracy grand/little driven machine people's occasion, have good application prospects.
Claims (3)
1. dual drive four-freedom space parallel mechanism, by moving platform (1), the branch that fixed platform (10) is identical with four structures that are connected moving platform (1) and fixed platform (10) forms, it is characterized in that: two moving sets are arranged in each branch as driving input, moving platform (1) is rotationally connected by Hooke's hinge (2) and last connecting rod (3), last connecting rod (3) is connected with lower link (5) by moving sets (4), lower link (5) is connected with upper pillar stand (7) by Hooke's hinge (6), upper pillar stand (7) is connected with lower pillar stand (9) by moving sets (8), and lower pillar stand (9) connects firmly with fixed platform (10); The rectangular distribution respectively of the tie point of four branches and moving platform (1) and fixed platform (10), the moving platform (1) and the fixed platform (10) that are formed by connecting by the branch of four symmetrical distributions are parallel to each other.
2. dual drive four-freedom space parallel mechanism according to claim 1 is characterized in that: the axis of the axis that Hooke's hinge in each branch (2) is connected with upper mounting plate (1), axis that Hooke's hinge (6) is connected with upper pillar stand (7) and moving sets (8) is parallel to each other and simultaneously perpendicular to moving platform (1); The axis that Hooke's hinge (2) is connected with last connecting rod (3) is parallel to each other with the axis that Hooke's hinge (6) is connected with lower link (5) and is parallel to moving platform (1).
3. dual drive four-freedom space parallel mechanism according to claim 1 and 2 is characterized in that: described Hooke's hinge (6) is rotationally connected with upper pillar stand (7).
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| Application Number | Priority Date | Filing Date | Title |
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| CNB200810054641XA CN100546775C (en) | 2008-03-17 | 2008-03-17 | Dual drive four-freedom space parallel mechanism |
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| CNB200810054641XA CN100546775C (en) | 2008-03-17 | 2008-03-17 | Dual drive four-freedom space parallel mechanism |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101623866B (en) * | 2009-08-05 | 2011-01-05 | 燕山大学 | Five-freedom dual-driving parallel mechanism |
| CN102072383A (en) * | 2010-11-27 | 2011-05-25 | 江西理工大学 | Spatial four-degree-of-freedom oligodynamic ultra-precision positioning platform with full-compliant branched chains |
| CN102248535A (en) * | 2011-07-18 | 2011-11-23 | 燕山大学 | Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive |
| US20120103123A1 (en) * | 2010-04-30 | 2012-05-03 | University Of Wyoming | Prismatic/revolute orienting apparatus |
| CN102488557A (en) * | 2011-11-25 | 2012-06-13 | 华东交通大学 | Device capable of realizing combinatorial motion output of 3PUU (three-prismatic-universal-universal) mechanism and 3UPU (three-universal-prismatic- universal) mechanism |
| CN102645170A (en) * | 2012-04-12 | 2012-08-22 | 重庆大学 | Sliding block type parallel mechanism for measuring space six-degree-of-freedom movement |
| CN102692201A (en) * | 2012-06-19 | 2012-09-26 | 重庆大学 | Device for measuring spatial motion with six degrees of freedom and dynamic measuring method |
| CN102819972A (en) * | 2012-08-14 | 2012-12-12 | 燕山大学 | Three-degree-of-freedom static load balance parallel motion simulation platform |
| CN103267210A (en) * | 2013-05-16 | 2013-08-28 | 燕山大学 | Six-freedom-degree parallel pointing platform |
| CN103586862A (en) * | 2013-10-22 | 2014-02-19 | 上海交通大学 | Novel three-branched-chain six-degree-of-freedom robot |
| CN104029196A (en) * | 2014-05-21 | 2014-09-10 | 燕山大学 | Three-rotation one-movement symmetric four-degree-of-freedom parallel mechanism |
| CN104626201A (en) * | 2014-12-24 | 2015-05-20 | 北京航天测控技术有限公司 | Structure-state-variable mechanism and spinor adjacent matrix method for characteristic analysis of structure-state-variable mechanism |
| CN104802155A (en) * | 2015-05-07 | 2015-07-29 | 杨春辉 | Spatial three-dimensional motion full-compliant parallel micro-motion platform |
| CN104875186A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) parallel robot mechanism |
| CN104875184A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R spatial parallel robot mechanism |
| CN105666471A (en) * | 2016-03-29 | 2016-06-15 | 燕山大学 | SPS+UPU+(2RPS+R) type four-freedom-degree parallel robot |
| CN106076827A (en) * | 2016-06-16 | 2016-11-09 | 安徽旺达铜业发展有限公司 | A kind of copper powder produces screening plant |
| CN106965153A (en) * | 2017-03-15 | 2017-07-21 | 北京交通大学 | A kind of parallel machine body of actuation redundancy |
| CN108481312A (en) * | 2018-07-03 | 2018-09-04 | 北京航空航天大学 | A kind of four-freedom parallel mechanism |
| CN108818503A (en) * | 2018-07-03 | 2018-11-16 | 北京航空航天大学 | A kind of four-degree-of-freedom posture adjustment platform |
| CN108908296A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 3R1T and 2R2T |
| CN109662867A (en) * | 2019-02-22 | 2019-04-23 | 苏州大学 | Based on the improved ankle rehabilitation institution of Stewart platform |
| CN110394777A (en) * | 2019-08-20 | 2019-11-01 | 哈尔滨工程大学 | A kind of multi-freedom parallel connection crawl robot for model recycling |
| CN110480602A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The mobile processing oscillating head mechanism in parallel of two rotation two |
| CN110502024A (en) * | 2019-07-23 | 2019-11-26 | 北京控制工程研究所 | A kind of universal posture executing agency of standard based on space parallel mechanism |
| CN112483786A (en) * | 2020-11-12 | 2021-03-12 | 华中科技大学 | Six-degree-of-freedom platform and application thereof |
| WO2021217761A1 (en) * | 2020-04-27 | 2021-11-04 | 无锡富瑞德测控仪器股份有限公司 | Large-stroke multiple-degrees-of-freedom nanoscale positioning device and control method thereof |
-
2008
- 2008-03-17 CN CNB200810054641XA patent/CN100546775C/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101623866B (en) * | 2009-08-05 | 2011-01-05 | 燕山大学 | Five-freedom dual-driving parallel mechanism |
| US20120103123A1 (en) * | 2010-04-30 | 2012-05-03 | University Of Wyoming | Prismatic/revolute orienting apparatus |
| US9061415B2 (en) * | 2010-04-30 | 2015-06-23 | University Of Wyoming | Prismatic/revolute orienting apparatus |
| CN102072383A (en) * | 2010-11-27 | 2011-05-25 | 江西理工大学 | Spatial four-degree-of-freedom oligodynamic ultra-precision positioning platform with full-compliant branched chains |
| CN102072383B (en) * | 2010-11-27 | 2012-09-05 | 江西理工大学 | Spatial four-degree-of-freedom oligodynamic ultra-precision positioning platform with full-compliant branched chains |
| CN102248535A (en) * | 2011-07-18 | 2011-11-23 | 燕山大学 | Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive |
| CN102488557A (en) * | 2011-11-25 | 2012-06-13 | 华东交通大学 | Device capable of realizing combinatorial motion output of 3PUU (three-prismatic-universal-universal) mechanism and 3UPU (three-universal-prismatic- universal) mechanism |
| CN102645170B (en) * | 2012-04-12 | 2014-07-02 | 重庆大学 | Sliding block type parallel mechanism for measuring space six-degree-of-freedom movement |
| CN102645170A (en) * | 2012-04-12 | 2012-08-22 | 重庆大学 | Sliding block type parallel mechanism for measuring space six-degree-of-freedom movement |
| CN102692201A (en) * | 2012-06-19 | 2012-09-26 | 重庆大学 | Device for measuring spatial motion with six degrees of freedom and dynamic measuring method |
| CN102819972A (en) * | 2012-08-14 | 2012-12-12 | 燕山大学 | Three-degree-of-freedom static load balance parallel motion simulation platform |
| CN103267210B (en) * | 2013-05-16 | 2015-06-10 | 燕山大学 | Six-freedom-degree parallel pointing platform |
| CN103267210A (en) * | 2013-05-16 | 2013-08-28 | 燕山大学 | Six-freedom-degree parallel pointing platform |
| CN103586862A (en) * | 2013-10-22 | 2014-02-19 | 上海交通大学 | Novel three-branched-chain six-degree-of-freedom robot |
| CN104029196A (en) * | 2014-05-21 | 2014-09-10 | 燕山大学 | Three-rotation one-movement symmetric four-degree-of-freedom parallel mechanism |
| CN104029196B (en) * | 2014-05-21 | 2016-03-02 | 燕山大学 | A kind of three rotate one moves symmetrical four-freedom parallel mechanism |
| CN104626201A (en) * | 2014-12-24 | 2015-05-20 | 北京航天测控技术有限公司 | Structure-state-variable mechanism and spinor adjacent matrix method for characteristic analysis of structure-state-variable mechanism |
| CN104626201B (en) * | 2014-12-24 | 2016-02-17 | 北京航天测控技术有限公司 | The spinor adjacency Matrix Method of structure state changeable mechanism and specificity analysis thereof |
| CN104802155A (en) * | 2015-05-07 | 2015-07-29 | 杨春辉 | Spatial three-dimensional motion full-compliant parallel micro-motion platform |
| CN104875184A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R spatial parallel robot mechanism |
| CN104875186A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) parallel robot mechanism |
| CN105666471A (en) * | 2016-03-29 | 2016-06-15 | 燕山大学 | SPS+UPU+(2RPS+R) type four-freedom-degree parallel robot |
| CN106076827A (en) * | 2016-06-16 | 2016-11-09 | 安徽旺达铜业发展有限公司 | A kind of copper powder produces screening plant |
| CN106965153A (en) * | 2017-03-15 | 2017-07-21 | 北京交通大学 | A kind of parallel machine body of actuation redundancy |
| CN108481312A (en) * | 2018-07-03 | 2018-09-04 | 北京航空航天大学 | A kind of four-freedom parallel mechanism |
| CN108818503A (en) * | 2018-07-03 | 2018-11-16 | 北京航空航天大学 | A kind of four-degree-of-freedom posture adjustment platform |
| CN108908296A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 3R1T and 2R2T |
| CN109662867A (en) * | 2019-02-22 | 2019-04-23 | 苏州大学 | Based on the improved ankle rehabilitation institution of Stewart platform |
| CN110502024B (en) * | 2019-07-23 | 2020-10-20 | 北京控制工程研究所 | Quasi-universal attitude executing mechanism based on space parallel mechanism |
| CN110502024A (en) * | 2019-07-23 | 2019-11-26 | 北京控制工程研究所 | A kind of universal posture executing agency of standard based on space parallel mechanism |
| CN110480602A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The mobile processing oscillating head mechanism in parallel of two rotation two |
| CN110394777A (en) * | 2019-08-20 | 2019-11-01 | 哈尔滨工程大学 | A kind of multi-freedom parallel connection crawl robot for model recycling |
| CN110394777B (en) * | 2019-08-20 | 2022-06-17 | 哈尔滨工程大学 | Multi-degree-of-freedom parallel grabbing robot for model recovery |
| WO2021217761A1 (en) * | 2020-04-27 | 2021-11-04 | 无锡富瑞德测控仪器股份有限公司 | Large-stroke multiple-degrees-of-freedom nanoscale positioning device and control method thereof |
| US11911896B2 (en) | 2020-04-27 | 2024-02-27 | Wuxi Friedrich Measurement And Control Instruments Co., Ltd | Nanoscale positioning apparatus with large stroke and multiple degrees of freedom and control method thereof |
| CN112483786A (en) * | 2020-11-12 | 2021-03-12 | 华中科技大学 | Six-degree-of-freedom platform and application thereof |
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